相关论文: 3D Point Cloud Denoising using Graph Laplacian Reg…

In this work, we propose a novel two-stage framework for the efficient 3D point cloud object detection. Instead of transforming point clouds into 2D bird eye view projections, we parse the raw point cloud data directly in the 3D space yet…

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.…

We introduce a continuous global optimization method to the field of surface reconstruction from discrete noisy cloud of points with weak information on orientation. The proposed method uses an energy functional combining flux-based…

In this paper, we propose PointRCNN for 3D object detection from raw point cloud. The whole framework is composed of two stages: stage-1 for the bottom-up 3D proposal generation and stage-2 for refining proposals in the canonical…

Point cloud is a critical 3D representation with many emerging applications. Because of the point sparsity and irregularity, high-quality rendering of point clouds is challenging and often requires complex computations to recover the…

In this paper, we introduce a novel method for comparing 3D point clouds, a critical task in various machine learning applications. By interpreting point clouds as samples from underlying probability density functions, the statistical…

3D surface reconstruction from point clouds is a key step in areas such as content creation, archaeology, digital cultural heritage, and engineering. Current approaches either try to optimize a non-data-driven surface representation to fit…

Point cloud denoising task aims to recover the clean point cloud from the scanned data coupled with different levels or patterns of noise. The recent state-of-the-art methods often train deep neural networks to update the point locations…

Pseudo-LiDAR point cloud interpolation is a novel and challenging task in the field of autonomous driving, which aims to address the frequency mismatching problem between camera and LiDAR. Previous works represent the 3D spatial motion…

Building on recent advances in Bayesian statistics and image denoising, we propose Noise2Score3D, a fully unsupervised framework for point cloud denoising that addresses the critical challenge of limited availability of clean data.…

Point cloud upsampling is to densify a sparse point set acquired from 3D sensors, providing a denser representation for the underlying surface. Existing methods divide the input points into small patches and upsample each patch separately,…

We propose a variational functional and fast algorithms to reconstruct implicit surface from point cloud data with a curvature constraint. The minimizing functional balances the distance function from the point cloud and the mean curvature…

Monocular 3D scene understanding tasks, such as object size estimation, heading angle estimation and 3D localization, is challenging. Successful modern day methods for 3D scene understanding require the use of a 3D sensor. On the other…

Point cloud matching, a crucial technique in computer vision, medical and robotics fields, is primarily concerned with finding correspondences between pairs of point clouds or voxels. In some practical scenarios, emphasizing local…

Processing 3D pointclouds with Deep Learning methods is not an easy task. A common choice is to do so with Graph Neural Networks, but this framework involves the creation of edges between points, which are explicitly not related between…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Conventional methods of 3D object generative modeling learn volumetric predictions using deep networks with 3D convolutional operations, which are direct analogies to classical 2D ones. However, these methods are computationally wasteful in…

Point cloud source data for surface reconstruction is usually contaminated with noise and outliers. To overcome this deficiency, a density-based point cloud denoising method is presented to remove outliers and noisy points. First,…

Point clouds produced by 3D sensors are often sparse and noisy, posing challenges for tasks requiring dense and high-fidelity 3D representations. Prior work has explored both implicit feature-based upsampling and distance-function learning…

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…