相关论文: PPFNet: Global Context Aware Local Features for Ro…

Understanding dynamic 3D environment is crucial for robotic agents and many other applications. We propose a novel neural network architecture called $MeteorNet$ for learning representations for dynamic 3D point cloud sequences. Different…

Grounding free-form textual queries necessitates an understanding of these textual phrases and its relation to the visual cues to reliably reason about the described locations. Spatial attention networks are known to learn this relationship…

In order to retain more feature information of local areas on a point cloud, local grouping and subsampling are the necessary data structuring steps in most hierarchical deep learning models. Due to the disorder nature of the points in a…

Point cloud completion aims to reconstruct the complete 3D shape from incomplete point clouds, and it is crucial for tasks such as 3D object detection and segmentation. Despite the continuous advances in point cloud analysis techniques,…

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.…

Point cloud processing methods exploit local point features and global context through aggregation which does not explicity model the internal correlations between local and global features. To address this problem, we propose full point…

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,…

Deep learning has achieved remarkable results in 3D shape analysis by learning global shape features from the pixel-level over multiple views. Previous methods, however, compute low-level features for entire views without considering…

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…

We study the problem of extracting correspondences between a pair of point clouds for registration. For correspondence retrieval, existing works benefit from matching sparse keypoints detected from dense points but usually struggle to…

Learning the physical dynamics of deformable objects with particle-based representation has been the objective of many computational models in machine learning. While several state-of-the-art models have achieved this objective in simulated…

This paper presents a simple yet very effective data-driven approach to fuse both low-level and high-level local geometric features for 3D rigid data matching. It is a common practice to generate distinctive geometric descriptors by fusing…

Large-scale point cloud generated from 3D sensors is more accurate than its image-based counterpart. However, it is seldom used in visual pose estimation due to the difficulty in obtaining 2D-3D image to point cloud correspondences. In this…

2D image representations are in regular grids and can be processed efficiently, whereas 3D point clouds are unordered and scattered in 3D space. The information inside these two visual domains is well complementary, e.g., 2D images have…

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…

Many applications in robotics and human-computer interaction can benefit from understanding 3D motion of points in a dynamic environment, widely noted as scene flow. While most previous methods focus on stereo and RGB-D images as input, few…

Point cloud based 3D deep model has wide applications in many applications such as autonomous driving, house robot, and so on. Inspired by the recent prompt learning in natural language processing, this work proposes a novel Multi-view…

Point cloud registration is to estimate a transformation to align point clouds collected in different perspectives. In learning-based point cloud registration, a robust descriptor is vital for high-accuracy registration. However, most…

Surface meshes are widely used shape representations and capture finer geometry data than point clouds or volumetric grids, but are challenging to apply CNNs directly due to their non-Euclidean structure. We use parallel frames on surface…

We propose a convolutional neural network (ConvNet) based approach for learning local image descriptors which can be used for significantly improved patch matching and 3D reconstructions. A multi-resolution ConvNet is used for learning…