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Simultaneous Localization and Mapping (SLAM) is an essential technology for the efficiency and reliability of unmanned robotic exploration missions. While the onboard computational capability and communication bandwidth are critically…
Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…
The point cloud is gaining prominence as a method for representing 3D shapes, but its irregular format poses a challenge for deep learning methods. The common solution of transforming the data into a 3D voxel grid introduces its own…
3D point cloud completion, the task of inferring the complete geometric shape from a partial point cloud, has been attracting attention in the community. For acquiring high-fidelity dense point clouds and avoiding uneven distribution,…
Semantic segmentation of 3D point cloud data is essential for enhanced high-level perception in autonomous platforms. Furthermore, given the increasing deployment of LiDAR sensors onboard of cars and drones, a special emphasis is also…
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…
Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…
In this paper, we propose a Point Fractal Network (PF-Net), a novel learning-based approach for precise and high-fidelity point cloud completion. Unlike existing point cloud completion networks, which generate the overall shape of the point…
We extend a previous study on 3D point cloud attribute compression scheme that uses a volumetric approach: given a target volumetric attribute function $f : \mathbb{R}^3 \mapsto \mathbb{R}$, we quantize and encode parameters $\theta$ that…
We rethink the role of positional encoding in 3D representation learning and fine-tuning. We argue that using positional encoding in point Transformer-based methods serves to aggregate multi-scale features of point clouds. Additionally, we…
Pre-trained large-scale models have exhibited remarkable efficacy in computer vision, particularly for 2D image analysis. However, when it comes to 3D point clouds, the constrained accessibility of data, in contrast to the vast repositories…
We present a new permutation-invariant network for 3D point cloud processing. Our network is composed of a recurrent set encoder and a convolutional feature aggregator. Given an unordered point set, the encoder firstly partitions its…
Efficient dynamic point cloud compression (DPCC) critically depends on accurate motion estimation and compensation. However, the inherently irregular structure and substantial local variations of point clouds make this task highly…
Point cloud synthesis, i.e. the generation of novel point clouds from an input distribution, remains a challenging task, for which numerous complex machine learning models have been devised. We develop a novel method that encodes…
Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…
Point clouds are a very efficient way to represent volumetric data in medical imaging. First, they do not occupy resources for empty spaces and therefore can avoid trade-offs between resolution and field-of-view for voxel-based 3D…
The universality of the point cloud format enables many 3D applications, making the compression of point clouds a critical phase in practice. Sampled as discrete 3D points, a point cloud approximates 2D surface(s) embedded in 3D with a…
Persistent Homology (PH) offers stable, multi-scale descriptors of intrinsic shape structure by capturing connected components, loops, and voids that persist across scales, providing invariants that complement purely geometric…
Point cloud filtering is a fundamental problem in geometry modeling and processing. Despite of significant advancement in recent years, the existing methods still suffer from two issues: 1) they are either designed without preserving sharp…
Point cloud analysis is challenging due to irregularity and unordered data structure. To capture the 3D geometries, prior works mainly rely on exploring sophisticated local geometric extractors using convolution, graph, or attention…