相关论文: Graph-based compression of dynamic 3D point cloud …

This study presents a high-accuracy, efficient, and physically induced method for 3D point cloud registration, which is the core of many important 3D vision problems. In contrast to existing physics-based methods that merely consider…

We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

3D sensing and content capture have made significant progress in recent years and the MPEG standardization organization is launching a new project on immersive media with point cloud compression (PCC) as one key corner stone. In this work,…

We propose simple yet effective improvements in point representations and local neighborhood graph construction within the general framework of graph neural networks (GNNs) for 3D point cloud processing. As a first contribution, we propose…

In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…

Efficient point cloud compression is essential for applications like virtual and mixed reality, autonomous driving, and cultural heritage. This paper proposes a deep learning-based inter-frame encoding scheme for dynamic point cloud…

Point clouds are utilized in various 3D applications such as cross-reality (XR) and realistic 3D displays. In some applications, e.g., for live streaming using a 3D point cloud, real-time point cloud denoising methods are required to…

3D scene flow estimation aims to estimate point-wise motions between two consecutive frames of point clouds. Superpoints, i.e., points with similar geometric features, are usually employed to capture similar motions of local regions in 3D…

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.…

Acquired 3D point cloud data, whether from active sensors directly or from stereo-matching algorithms indirectly, typically contain non-negligible noise. To address the point cloud denoising problem, we propose a fast graph-based local…

Point cloud is a collection of 3D coordinates that are discrete geometric samples of an object's 2D surfaces. Using a low-cost 3D scanner to acquire data means that point clouds are often in lower resolution than desired for rendering on…

Convolution on 3D point clouds that generalized from 2D grid-like domains is widely researched yet far from perfect. The standard convolution characterises feature correspondences indistinguishably among 3D points, presenting an intrinsic…

Semantic segmentation of 3D point clouds is a challenging problem with numerous real-world applications. While deep learning has revolutionized the field of image semantic segmentation, its impact on point cloud data has been limited so…

In this paper, we propose a graph neural network to detect objects from a LiDAR point cloud. Towards this end, we encode the point cloud efficiently in a fixed radius near-neighbors graph. We design a graph neural network, named Point-GNN,…

Textured meshes are becoming an increasingly popular representation combining the 3D geometry and radiometry of real scenes. However, semantic segmentation algorithms for urban mesh have been little investigated and do not exploit all…

In this paper, we present a new self-supervised scene flow estimation approach for a pair of consecutive point clouds. The key idea of our approach is to represent discrete point clouds as continuous probability density functions using…

Efficient point cloud compression is fundamental to enable the deployment of virtual and mixed reality applications, since the number of points to code can range in the order of millions. In this paper, we present a novel data-driven…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

3D object detection often involves complicated training and testing pipelines, which require substantial domain knowledge about individual datasets. Inspired by recent non-maximum suppression-free 2D object detection models, we propose a 3D…