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Scene understanding based on LiDAR point cloud is an essential task for autonomous cars to drive safely, which often employs spherical projection to map 3D point cloud into multi-channel 2D images for semantic segmentation. Most existing…
In this paper, we propose a compact network called CUNet (compact unsupervised network) to counter the image classification challenge. Different from the traditional convolutional neural networks learning filters by the time-consuming…
Panoptic segmentation as an integrated task of both static environmental understanding and dynamic object identification, has recently begun to receive broad research interest. In this paper, we propose a new computationally efficient LiDAR…
We present a new approach and a novel architecture, termed WSNet, for learning compact and efficient deep neural networks. Existing approaches conventionally learn full model parameters independently and then compress them via ad hoc…
Few prior works study deep learning on point sets. PointNet by Qi et al. is a pioneer in this direction. However, by design PointNet does not capture local structures induced by the metric space points live in, limiting its ability to…
In this paper, we tackle the challenging problem of point cloud completion from the perspective of feature learning. Our key observation is that to recover the underlying structures as well as surface details, given partial input, a…
In recent years, Convolutional Neural Networks (CNN) have proven to be efficient analysis tools for processing point clouds, e.g., for reconstruction, segmentation and classification. In this paper, we focus on the classification of edges…
3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…
In federated learning problems, data is scattered across different servers and exchanging or pooling it is often impractical or prohibited. We develop a Bayesian nonparametric framework for federated learning with neural networks. Each data…
Recent deep networks that directly handle points in a point set, e.g., PointNet, have been state-of-the-art for supervised learning tasks on point clouds such as classification and segmentation. In this work, a novel end-to-end deep…
Point cloud registration for 3D objects is a challenging task due to sparse and noisy measurements, incomplete observations and large transformations. In this work, we propose \textbf{G}raph \textbf{M}atching \textbf{C}onsensus…
Although convolutional neural networks have achieved remarkable success in analyzing 2D images/videos, it is still non-trivial to apply the well-developed 2D techniques in regular domains to the irregular 3D point cloud data. To bridge this…
This work presents FG-Net, a general deep learning framework for large-scale point clouds understanding without voxelizations, which achieves accurate and real-time performance with a single NVIDIA GTX 1080 GPU. First, a novel noise and…
With the tide of artificial intelligence, we try to apply deep learning to understand 3D data. Point cloud is an important 3D data structure, which can accurately and directly reflect the real world. In this paper, we propose a simple and…
Point cloud compression (PCC) is a key enabler for various 3-D applications, owing to the universality of the point cloud format. Ideally, 3D point clouds endeavor to depict object/scene surfaces that are continuous. Practically, as a set…
Nonlinear Parametric Optimization Network (NLPOpt-Net) is an unsupervised learning architecture to solve constrained nonlinear programs (NLP). Given the structure of an NLP, it learns the parametric solution maps with guaranteed constraint…
Extracting robust and general 3D local features is key to downstream tasks such as point cloud registration and reconstruction. Existing learning-based local descriptors are either sensitive to rotation transformations, or rely on classical…
This paper presents a learning-based, lossless compression method for static point cloud geometry, based on context-adaptive arithmetic coding. Unlike most existing methods working in the octree domain, our encoder operates in a hybrid…
In this paper, we propose a normal estimation method for unstructured 3D point clouds. This method, called Nesti-Net, builds on a new local point cloud representation which consists of multi-scale point statistics (MuPS), estimated on a…
Point clouds are an efficient data format for 3D data. However, existing 3D segmentation methods for point clouds either do not model local dependencies \cite{pointnet} or require added computations \cite{kd-net,pointnet2}. This work…