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3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

Transformers, renowned for their powerful feature extraction capabilities, have played an increasingly prominent role in various vision tasks. Especially, recent advancements present transformer with hierarchical structures such as Dilated…

Point clouds provide a flexible geometric representation suitable for countless applications in computer graphics; they also comprise the raw output of most 3D data acquisition devices. While hand-designed features on point clouds have long…

Although point cloud registration has achieved remarkable advances in object-level and indoor scenes, large-scale LiDAR registration methods has been rarely explored before. Challenges mainly arise from the huge point scale, complex point…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

In this work, we propose an end-to-end framework to learn local multi-view descriptors for 3D point clouds. To adopt a similar multi-view representation, existing studies use hand-crafted viewpoints for rendering in a preprocessing stage,…

Current methodologies in point cloud analysis predominantly explore 3D geometries, often achieved through the introduction of intricate learnable geometric extractors in the encoder or by deepening networks with repeated blocks. However,…

Visual place recognition is a challenging task in the field of computer vision, and autonomous robotics and vehicles, which aims to identify a location or a place from visual inputs. Contemporary methods in visual place recognition employ…

Although accurate and fast point cloud classification is a fundamental task in 3D applications, it is difficult to achieve this purpose due to the irregularity and disorder of point clouds that make it challenging to achieve effective and…

Point clouds are the native output of many real-world 3D sensors. To borrow the success of 2D convolutional network architectures, a majority of popular 3D perception models voxelize the points, which can result in a loss of local geometric…

3D point clouds deep learning is a promising field of research that allows a neural network to learn features of point clouds directly, making it a robust tool for solving 3D scene understanding tasks. While recent works show that point…

In point cloud generation and completion, previous methods for transforming latent features to point clouds are generally based on fully connected layers (FC-based) or folding operations (Folding-based). However, point clouds generated by…

Query-based transformer has shown great potential in constructing long-range attention in many image-domain tasks, but has rarely been considered in LiDAR-based 3D object detection due to the overwhelming size of the point cloud data. In…

Edge detection, a basic task in the field of computer vision, is an important preprocessing operation for the recognition and understanding of a visual scene. In conventional models, the edge image generated is ambiguous, and the edge lines…

This paper presents an edge-based defocus blur estimation method from a single defocused image. We first distinguish edges that lie at depth discontinuities (called depth edges, for which the blur estimate is ambiguous) from edges that lie…

Point cloud learning has lately attracted increasing attention due to its wide applications in many areas, such as computer vision, autonomous driving, and robotics. As a dominating technique in AI, deep learning has been successfully used…

Cloud-edge collaboration enhances machine perception by combining the strengths of edge and cloud computing. Edge devices capture raw data (e.g., 3D point clouds) and extract salient features, which are sent to the cloud for deeper analysis…

Semantic scene understanding from point clouds is particularly challenging as the points reflect only a sparse set of the underlying 3D geometry. Previous works often convert point cloud into regular grids (e.g. voxels or bird-eye view…

Technology to recognize the type of component represented by a point cloud is required in the reconstruction process of an as-built model of a process plant based on laser scanning. The reconstruction process of a process plant through…

Recently, 3D shape understanding has achieved significant progress due to the advances of deep learning models on various data formats like images, voxels, and point clouds. Among them, point clouds and multi-view images are two…