相关论文: Point Cloud Colorization Based on Densely Annotate…

City-scale 3D point cloud is a promising way to express detailed and complicated outdoor structures. It encompasses both the appearance and geometry features of segmented city components, including cars, streets, and buildings, that can be…

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 point cloud analysis has drawn a lot of research attention due to its wide applications. However, collecting massive labelled 3D point cloud data is both time-consuming and labor-intensive. This calls for data-efficient learning methods.…

Semantic segmentation of point clouds, aiming to assign each point a semantic category, is critical to 3D scene understanding.Despite of significant advances in recent years, most of existing methods still suffer from either the…

In this paper, we propose a pipeline to generate 3D point cloud of an object from a single-view RGB image. Most previous work predict the 3D point coordinates from single RGB images directly. We decompose this problem into depth estimation…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

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…

Point clouds acquired by 3D scanning devices are often sparse, noisy, and non-uniform, causing a loss of geometric features. To facilitate the usability of point clouds in downstream applications, given such input, we present a…

Exploring contextual information in the local region is important for shape understanding and analysis. Existing studies often employ hand-crafted or explicit ways to encode contextual information of local regions. However, it is hard to…

Although 3D point cloud data has received widespread attentions as a general form of 3D signal expression, applying point clouds to the task of dense correspondence estimation between 3D shapes has not been investigated widely. Furthermore,…

In this paper, we propose a new method for mapping a 3D point cloud to the latent space of a 3D generative adversarial network. Our generative model for 3D point clouds is based on SP-GAN, a state-of-the-art sphere-guided 3D point cloud…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

In recent years, point clouds have become increasingly popular for representing three-dimensional (3D) visual objects and scenes. To efficiently store and transmit point clouds, compression methods have been developed, but they often result…

LiDAR-produced point clouds are the major source for most state-of-the-art 3D object detectors. Yet, small, distant, and incomplete objects with sparse or few points are often hard to detect. We present Sparse2Dense, a new framework to…

We present an improved version of PointRCNN for 3D object detection, in which a multi-branch backbone network is adopted to handle the non-uniform density of point clouds. An uncertainty-based sampling policy is proposed to deal with the…

Accurate detection of obstacles in 3D is an essential task for autonomous driving and intelligent transportation. In this work, we propose a general multimodal fusion framework FusionPainting to fuse the 2D RGB image and 3D point clouds at…

Open-source 3D data processing libraries originally developed for computer vision and pattern recognition are used to align and compare molecular shapes and sub-shapes. Here, a shape is represented by a set of points distributed on the van…

As the development of 3D sensors, registration of 3D data (e.g. point cloud) coming from different kind of sensor is dispensable and shows great demanding. However, point cloud registration between different sensors is challenging because…

In this paper, we propose a simple yet effective method to represent point clouds as sets of samples drawn from a cloud-specific probability distribution. This interpretation matches intrinsic characteristics of point clouds: the number of…

Unsupervised point cloud segmentation is critical for embodied artificial intelligence and autonomous driving, as it mitigates the prohibitive cost of dense point-level annotations required by fully supervised methods. While integrating 2D…