相关论文: USIP: Unsupervised Stable Interest Point Detection…

With the advent of powerful, light-weight 3D LiDARs, they have become the hearth of many navigation and SLAM algorithms on various autonomous systems. Pointcloud registration methods working with unstructured pointclouds such as ICP are…

Point cloud registration (PCR) is an essential task in 3D vision. Existing methods achieve increasingly higher accuracy. However, a large proportion of non-overlapping points in point cloud registration consume a lot of computational…

We study the problem of unsupervised 3D semantic segmentation on raw point clouds without needing human labels in training. Existing methods usually formulate this problem into learning per-point local features followed by a simple grouping…

Detecting 3D keypoints with semantic consistency is widely used in many scenarios such as pose estimation, shape registration and robotics. Currently, most unsupervised 3D keypoint detection methods focus on the rigid-body objects. However,…

Global registration of point clouds aims to find an optimal alignment of a sequence of 2D or 3D point sets. In this paper, we present a novel method that takes advantage of current deep learning techniques for unsupervised learning of…

Existing point cloud based 3D detectors are designed for the particular scene, either indoor or outdoor ones. Because of the substantial differences in object distribution and point density within point clouds collected from various…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

Pre-trained point cloud analysis models have shown promising advancements in various downstream tasks, yet their effectiveness is typically suffering from low-quality point cloud (i.e., noise and incompleteness), which is a common issue in…

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…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

The 3D deep learning community has seen significant strides in pointcloud processing over the last few years. However, the datasets on which deep models have been trained have largely remained the same. Most datasets comprise clean,…

In this work, we present a novel global descriptor termed stable triangle descriptor (STD) for 3D place recognition. For a triangle, its shape is uniquely determined by the length of the sides or included angles. Moreover, the shape of…

This paper presents a novel approach to learn and detect distinctive regions on 3D shapes. Unlike previous works, which require labeled data, our method is unsupervised. We conduct the analysis on point sets sampled from 3D shapes, then…

Learning local descriptors is an important problem in computer vision. While there are many techniques for learning local patch descriptors for 2D images, recently efforts have been made for learning local descriptors for 3D points. The…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Instance segmentation of point clouds is a crucial task in 3D field with numerous applications that involve localizing and segmenting objects in a scene. However, achieving satisfactory results requires a large number of manual annotations,…

The Iterative Closest Point (ICP) algorithm is a crucial component of LiDAR-based SLAM algorithms. However, its performance can be negatively affected in unstructured environments that lack features and geometric structures, leading to low…

Unsupervised learning on 3D point clouds has undergone a rapid evolution, especially thanks to data augmentation-based contrastive methods. However, data augmentation is not ideal as it requires a careful selection of the type of…

This work presents an algorithm for scene change detection from point clouds to enable autonomous robotic caretaking in future space habitats. Autonomous robotic systems will help maintain future deep-space habitats, such as the Gateway…