相关论文: PCN: Point Completion Network

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…

Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene…

Point cloud completion aims to predict a complete shape in high accuracy from its partial observation. However, previous methods usually suffered from discrete nature of point cloud and unstructured prediction of points in local regions,…

Geometrical structures and the internal local region relationship, such as symmetry, regular array, junction, etc., are essential for understanding a 3D shape. This paper proposes a point cloud feature extraction network named PointSCNet,…

Deep learning techniques for point cloud data have demonstrated great potentials in solving classical problems in 3D computer vision such as 3D object classification and segmentation. Several recent 3D object classification methods have…

Depth completion is a key task in autonomous driving, aiming to complete sparse LiDAR depth measurements into high-quality dense depth maps through image guidance. However, existing methods usually treat depth maps as an additional channel…

Recovering high quality surfaces from noisy point clouds, known as point cloud denoising, is a fundamental yet challenging problem in geometry processing. Most of the existing methods either directly denoise the noisy input or filter raw…

We present a novel neural implicit shape method for partial point cloud completion. To that end, we combine a conditional Deep-SDF architecture with learned, adversarial shape priors. More specifically, our network converts partial inputs…

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,…

Point clouds have grown in importance in the way computers perceive the world. From LIDAR sensors in autonomous cars and drones to the time of flight and stereo vision systems in our phones, point clouds are everywhere. Despite their…

The ability to predict future structure features of environments based on past perception information is extremely needed by autonomous vehicles, which helps to make the following decision-making and path planning more reasonable. Recently,…

Real-world environment-derived point clouds invariably exhibit noise across varying modalities and intensities. Hence, point cloud denoising (PCD) is essential as a preprocessing step to improve downstream task performance. Deep learning…

Recent advances in mobile mapping systems have greatly enhanced the efficiency and convenience of acquiring urban 3D data. These systems utilize LiDAR sensors mounted on vehicles to capture vast cityscapes. However, a significant challenge…

Latent diffusion models (LDMs) have demonstrated remarkable generative capabilities across various low-level vision tasks. However, their potential for point cloud completion remains underexplored due to the unstructured and irregular…

Point clouds are characterized by irregularity and unstructuredness, which pose challenges in efficient data exploitation and discriminative feature extraction. In this paper, we present an unsupervised deep neural architecture called…

3D point clouds directly collected from objects through sensors are often incomplete due to self-occlusion. Conventional methods for completing these partial point clouds rely on manually organized training sets and are usually limited to…

Point cloud is a principal data structure adopted for 3D geometric information encoding. Unlike other conventional visual data, such as images and videos, these irregular points describe the complex shape features of 3D objects, which makes…

We address the problem of 3D shape completion from sparse and noisy point clouds, a fundamental problem in computer vision and robotics. Recent approaches are either data-driven or learning-based: Data-driven approaches rely on a shape…

Point clouds acquired in constrained, challenging, uncontrolled, and multi-sensor real-world settings are noisy, incomplete, and non-uniformly sparse. This presents acute challenges for the vital task of point cloud completion. Using tools…

Incomplete point clouds captured by 3D sensors often result in the loss of both geometric and semantic information. Most existing point cloud completion methods are built on rotation-variant frameworks trained with data in canonical poses,…