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In recent years, point cloud generation has gained significant attention in 3D generative modeling. Among existing approaches, point-based methods directly generate point clouds without relying on other representations such as latent…

We propose a new framework that formulates point cloud registration as a denoising diffusion process from noisy transformation to object transformation. During training stage, object transformation diffuses from ground-truth transformation…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

Rendering high-fidelity images from sparse point clouds is still challenging. Existing learning-based approaches suffer from either hole artifacts, missing details, or expensive computations. In this paper, we propose a novel framework to…

Achieving globally optimal point cloud registration under partial overlaps and large misalignments remains a fundamental challenge. While simultaneous transformation ($\boldsymbol{\theta}$) and correspondence ($\mathbf{P}$) estimation has…

Point cloud registration is to estimate a transformation to align point clouds collected in different perspectives. In learning-based point cloud registration, a robust descriptor is vital for high-accuracy registration. However, most…

Diffusion models are a powerful framework for tackling ill-posed problems, with recent advancements extending their use to point cloud upsampling. Despite their potential, existing diffusion models struggle with inefficiencies as they map…

3D perception in point clouds is transforming the perception ability of future intelligent machines. Point cloud algorithms, however, are plagued by irregular memory accesses, leading to massive inefficiencies in the memory sub-system,…

Point cloud completion is an indispensable task for recovering complete point clouds due to incompleteness caused by occlusion, limited sensor resolution, etc. The family of coarse-to-fine generation architectures has recently exhibited…

The performance of surface registration relies heavily on the metric used for the alignment error between the source and target shapes. Traditionally, such a metric is based on the point-to-point or point-to-plane distance from the points…

Point clouds have been recognized as a crucial data structure for 3D content and are essential in a number of applications such as virtual and mixed reality, autonomous driving, cultural heritage, etc. In this paper, we propose a set of…

With the objective of improving the registration of LiDAR point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D…

With the rapid development of computer vision and deep learning, significant advancements have been made in 3D vision, partic- ularly in autonomous driving, robotic perception, and augmented reality. 3D point cloud data, as a crucial…

Previous top-performing approaches for point cloud instance segmentation involve a bottom-up strategy, which often includes inefficient operations or complex pipelines, such as grouping over-segmented components, introducing additional…

Completing the whole 3D structure based on an incomplete point cloud is a challenging task, particularly when the residual point cloud lacks typical structural characteristics. Recent methods based on cross-modal learning attempt to…

The motivation of this paper is to address the problem of registering airborne LiDAR data and optical aerial or satellite imagery acquired from different platforms, at different times, with different points of view and levels of detail. In…

Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…

Establishing robust and accurate correspondences between a pair of images is a long-standing computer vision problem with numerous applications. While classically dominated by sparse methods, emerging dense approaches offer a compelling…

For many driving safety applications, it is of great importance to accurately register LiDAR point clouds generated on distant moving vehicles. However, such point clouds have extremely different point density and sensor perspective on the…

Point cloud registration refers to the problem of finding the rigid transformation that aligns two given point clouds, and is crucial for many applications in robotics and computer vision. The main insight of this paper is that we can…