相关论文: Nesti-Net: Normal Estimation for Unstructured 3D P…

This work presents a novel Convolutional Neural Network (CNN) architecture and a training procedure to enable robust and accurate pose estimation of a noncooperative spacecraft. First, a new CNN architecture is introduced that has scored a…

This paper surveys and evaluates some popular state of the art methods for algorithmic curvature and normal estimation. In addition to surveying existing methods we also propose a new method for robust curvature estimation and evaluate it…

Classification and segmentation of 3D point clouds are important tasks in computer vision. Because of the irregular nature of point clouds, most of the existing methods convert point clouds into regular 3D voxel grids before they are used…

Features that are equivariant to a larger group of symmetries have been shown to be more discriminative and powerful in recent studies. However, higher-order equivariant features often come with an exponentially-growing computational cost.…

We propose an octree guided neural network architecture and spherical convolutional kernel for machine learning from arbitrary 3D point clouds. The network architecture capitalizes on the sparse nature of irregular point clouds, and…

Existing networks directly learn feature representations on 3D point clouds for shape analysis. We argue that 3D point clouds are highly redundant and hold irregular (permutation-invariant) structure, which makes it difficult to achieve…

This work proposes a method for depth completion of sparse LiDAR data using a convolutional neural network which can be used to generate semi-dense depth maps and "almost" full 3D point-clouds with significantly lower root mean squared…

While massively scaling both data and models have become central in NLP and 2D vision, their benefits for 3D point cloud understanding remain limited. We study the initial step of scaling 3D point cloud understanding under a realistic…

The task of point cloud completion aims to predict the missing part for an incomplete 3D shape. A widely used strategy is to generate a complete point cloud from the incomplete one. However, the unordered nature of point clouds will degrade…

Recent years have witnessed the emergence of 3D medical imaging techniques with the development of 3D sensors and technology. Due to the presence of noise in image acquisition, registration researchers focused on an alternative way to…

As 3D point clouds become a cornerstone of modern technology, the need for sophisticated generative models and reliable evaluation metrics has grown exponentially. In this work, we first expose that some commonly used metrics for evaluating…

Deep learning on point clouds has made a lot of progress recently. Many point cloud dedicated deep learning frameworks, such as PointNet and PointNet++, have shown advantages in accuracy and speed comparing to those using traditional 3D…

Point cloud segmentation and classification are some of the primary tasks in 3D computer vision with applications ranging from augmented reality to robotics. However, processing point clouds using deep learning-based algorithms is quite…

Point cloud analysis is very challenging, as the shape implied in irregular points is difficult to capture. In this paper, we propose RS-CNN, namely, Relation-Shape Convolutional Neural Network, which extends regular grid CNN to irregular…

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…

Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…

This paper describes a neural network layer, named Ursa, that uses a constellation of points to learn classification information from point cloud data. Unlike other machine learning classification problems where the task is to classify an…

In the field of autonomous driving and robotics, point clouds are showing their excellent real-time performance as raw data from most of the mainstream 3D sensors. Therefore, point cloud neural networks have become a popular research…

Point cloud processing is very challenging, as the diverse shapes formed by irregular points are often indistinguishable. A thorough grasp of the elusive shape requires sufficiently contextual semantic information, yet few works devote to…

We present a new permutation-invariant network for 3D point cloud processing. Our network is composed of a recurrent set encoder and a convolutional feature aggregator. Given an unordered point set, the encoder firstly partitions its…