相关论文: Mining Point Cloud Local Structures by Kernel Corr…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

Learning new representations of 3D point clouds is an active research area in 3D vision, as the order-invariant point cloud structure still presents challenges to the design of neural network architectures. Recent works explored learning…

We introduce a novel technique for neural point cloud consolidation which learns from only the input point cloud. Unlike other point upsampling methods which analyze shapes via local patches, in this work, we learn from global subsets. We…

Recently, graph-based and Transformer-based deep learning networks have demonstrated excellent performances on various point cloud tasks. Most of the existing graph methods are based on static graph, which take a fixed input to establish…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Learning to generate 3D point clouds without 3D supervision is an important but challenging problem. Current solutions leverage various differentiable renderers to project the generated 3D point clouds onto a 2D image plane, and train deep…

Recent years have witnessed the great success of deep learning on various point cloud analysis tasks, e.g., classification and semantic segmentation. Since point cloud data is sparse and irregularly distributed, one key issue for point…

Point-based representations have consistently played a vital role in geometric data structures. Most point cloud learning and processing methods typically leverage the unordered and unconstrained nature to represent the underlying geometry…

This paper introduces a new definition of multiscale neighborhoods in 3D point clouds. This definition, based on spherical neighborhoods and proportional subsampling, allows the computation of features with a consistent geometrical meaning,…

With the increased availability of 3D scanning technology, point clouds are moving into the focus of computer vision as a rich representation of everyday scenes. However, they are hard to handle for machine learning algorithms due to their…

Explainability is an important factor to drive user trust in the use of neural networks for tasks with material impact. However, most of the work done in this area focuses on image analysis and does not take into account 3D data. We extend…

Fully exploring correlation among points in point clouds is essential for their feature modeling. This paper presents a novel end-to-end graph model, named Point2Node, to represent a given point cloud. Point2Node can dynamically explore…

We present a method that detects boundaries of parts in 3D shapes represented as point clouds. Our method is based on a graph convolutional network architecture that outputs a probability for a point to lie in an area that separates two or…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…

The semantic segmentation of point clouds is an important part of the environment perception for robots. However, it is difficult to directly adopt the traditional 3D convolution kernel to extract features from raw 3D point clouds because…

Recent state-of-the-art methods for point cloud processing are based on the notion of point convolution, for which several approaches have been proposed. In this paper, inspired by discrete convolution in image processing, we provide a…

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…

In this paper, we focus on semantic segmentation method for point clouds of urban scenes. Our fundamental concept revolves around the collaborative utilization of diverse scene representations to benefit from different context information…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

The analysis of 3D point clouds has diverse applications in robotics, vision and graphics. Processing them presents specific challenges since they are naturally sparse, can vary in spatial resolution and are typically unordered. Graph-based…