相关论文: Deep RBFNet: Point Cloud Feature Learning using Ra…

Point clouds, being the simple and compact representation of surface geometry of 3D objects, have gained increasing popularity with the evolution of deep learning networks for classification and segmentation tasks. Unlike human, teaching…

How to aggregate spatial information plays an essential role in learning-based image restoration. Most existing CNN-based networks adopt static convolutional kernels to encode spatial information, which cannot aggregate spatial information…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

In this paper, we propose a Point Fractal Network (PF-Net), a novel learning-based approach for precise and high-fidelity point cloud completion. Unlike existing point cloud completion networks, which generate the overall shape of the point…

Extracting robust and general 3D local features is key to downstream tasks such as point cloud registration and reconstruction. Existing learning-based local descriptors are either sensitive to rotation transformations, or rely on classical…

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 present a self-supervised task on point clouds, in order to learn meaningful point-wise features that encode local structure around each point. Our self-supervised network, named MortonNet, operates directly on unstructured/unordered…

Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In…

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…

Understanding spatial dynamics and semantics in point cloud is fundamental for comprehensive 3D comprehension. While reinforcement learning algorithms such as Group Relative Policy Optimization (GRPO) have recently achieved remarkable…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…

We present PPF-FoldNet for unsupervised learning of 3D local descriptors on pure point cloud geometry. Based on the folding-based auto-encoding of well known point pair features, PPF-FoldNet offers many desirable properties: it necessitates…

Beamforming (BF) is essential for enhancing system capacity in fifth generation (5G) and beyond wireless networks, yet exhaustive beam training in ultra-massive multiple-input multiple-output (MIMO) systems incurs substantial overhead. To…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

Feature point detection and description is the backbone for various computer vision applications, such as Structure-from-Motion, visual SLAM, and visual place recognition. While learning-based methods have surpassed traditional handcrafted…

Point cloud registration is a fundamental task for estimating rigid transformations between point clouds. Previous studies have used geometric information for extracting features, matching and estimating transformation. Recently, owing to…

3D object detection plays an important role in a large number of real-world applications. It requires us to estimate the localizations and the orientations of 3D objects in real scenes. In this paper, we present a new network architecture…

Compared to 2D images, 3D point clouds are much more sensitive to rotations. We expect the point features describing certain patterns to keep invariant to the rotation transformation. There are many recent SOTA works dedicated to…

Although accurate and fast point cloud classification is a fundamental task in 3D applications, it is difficult to achieve this purpose due to the irregularity and disorder of point clouds that make it challenging to achieve effective and…