Related papers: REVNET: Rotation-Equivariant Point Cloud Completio…

In many computer vision tasks, we expect a particular behavior of the output with respect to rotations of the input image. If this relationship is explicitly encoded, instead of treated as any other variation, the complexity of the problem…

We present a novel and high-performance 3D object detection framework, named PointVoxel-RCNN (PV-RCNN), for accurate 3D object detection from point clouds. Our proposed method deeply integrates both 3D voxel Convolutional Neural Network…

Point cloud completion referring to completing 3D shapes from partial 3D point clouds is a fundamental problem for 3D point cloud analysis tasks. Benefiting from the development of deep neural networks, researches on point cloud completion…

Invariance and equivariance to the rotation group have been widely discussed in the 3D deep learning community for pointclouds. Yet most proposed methods either use complex mathematical tools that may limit their accessibility, or are tied…

In point cloud compression, the quality of a reconstructed point cloud relies on both the global structure and the local context, with existing methods usually processing global and local information sequentially and lacking communication…

Equivariance has been a long-standing concern in various fields ranging from computer vision to physical modeling. Most previous methods struggle with generality, simplicity, and expressiveness -- some are designed ad hoc for specific data…

Existing convolutional learning methods for 3D point cloud data are divided into two paradigms: point-based methods that preserve geometric precision but often face performance challenges, and voxel-based methods that achieve high…

Estimating the complete 3D point cloud from an incomplete one is a key problem in many vision and robotics applications. Mainstream methods (e.g., PCN and TopNet) use Multi-layer Perceptrons (MLPs) to directly process point clouds, which…

Recently, many deep neural networks were designed to process 3D point clouds, but a common drawback is that rotation invariance is not ensured, leading to poor generalization to arbitrary orientations. In this paper, we introduce a new…

Learning rotation-invariant distinctive features is a fundamental requirement for point cloud registration. Existing methods often use rotation-sensitive networks to extract features, while employing rotation augmentation to learn an…

Recently, there has been a significant interest in performing convolution over irregularly sampled point clouds. Since point clouds are very different from regular raster images, it is imperative to study the generalization of the…

Shape completion, the problem of estimating the complete geometry of objects from partial observations, lies at the core of many vision and robotics applications. In this work, we propose Point Completion Network (PCN), a novel…

The existing 3D deep learning methods adopt either individual point-based features or local-neighboring voxel-based features, and demonstrate great potential for processing 3D data. However, the point based models are inefficient due to the…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

Point cloud completion aims to recover the completed 3D shape of an object from its partial observation caused by occlusion, sensor's limitation, noise, etc. When some key semantic information is lost in the incomplete point cloud, the…

While Transformers have achieved impressive success in natural language processing and computer vision, their performance on 3D point clouds is relatively poor. This is mainly due to the limitation of Transformers: a demanding need for…

The task of point cloud completion aims to predict the missing part for an incomplete 3D shape. A widely used strategy is to generate a complete point cloud from the incomplete one. However, the unordered nature of point clouds will degrade…

Point clouds can be represented in many forms (views), typically, point-based sets, voxel-based cells or range-based images(i.e., panoramic view). The point-based view is geometrically accurate, but it is disordered, which makes it…

Point cloud completion concerns to predict missing part for incomplete 3D shapes. A common strategy is to generate complete shape according to incomplete input. However, unordered nature of point clouds will degrade generation of…

The annotation of 3D datasets is required for semantic-segmentation and object detection in scene understanding. In this paper we present a framework for the weakly supervision of a point clouds transformer that is used for 3D object…