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

This paper investigates the indistinguishable points (difficult to predict label) in semantic segmentation for large-scale 3D point clouds. The indistinguishable points consist of those located in complex boundary, points with similar local…

We study the problem of efficient object detection of 3D LiDAR point clouds. To reduce the memory and computational cost, existing point-based pipelines usually adopt task-agnostic random sampling or farthest point sampling to progressively…

A wide range of computer vision algorithms rely on identifying sparse interest points in images and establishing correspondences between them. However, only a subset of the initially identified interest points results in true…

We present a new two-stage 3D object detection framework, named sparse-to-dense 3D Object Detector (STD). The first stage is a bottom-up proposal generation network that uses raw point cloud as input to generate accurate proposals by…

The recent development of high-precision subsea optical scanners allows for 3D keypoint detectors and feature descriptors to be leveraged on point cloud scans from subsea environments. However, the literature lacks a comprehensive survey to…

In this paper, we propose novel edge and corner detection algorithms for unorganized point clouds. Our edge detection method evaluates symmetry in a local neighborhood and uses an adaptive density based threshold to differentiate 3D edge…

The annotation of 3D datasets is required for semantic-segmentation and object detection in scene understanding. In this paper we present a framework for the weakly supervision of a point clouds transformer that is used for 3D object…

LiDAR Upsampling is a challenging task for the perception systems of robots and autonomous vehicles, due to the sparse and irregular structure of large-scale scene contexts. Recent works propose to solve this problem by converting LiDAR…

We present SeRP, a framework for Self-Supervised Learning of 3D point clouds. SeRP consists of encoder-decoder architecture that takes perturbed or corrupted point clouds as inputs and aims to reconstruct the original point cloud without…

We present CpT: Convolutional point Transformer - a novel deep learning architecture for dealing with the unstructured nature of 3D point cloud data. CpT is an improvement over existing attention-based Convolutions Neural Networks as well…

Unsupervised 3D keypoints estimation from Point Cloud Data (PCD) is a complex task, even more challenging when an object shape is deforming. As keypoints should be semantically and geometrically consistent across all the 3D frames - each…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

The task of detecting the interest points in 3D meshes has typically been handled by geometric methods. These methods, while greatly describing human preference, can be ill-equipped for handling the variety and subjectivity in human…

3D landmark detection plays a pivotal role in various applications such as 3D registration, pose estimation, and virtual try-on. While considerable success has been achieved in 2D human landmark detection or pose estimation, there is a…

An unsupervised point cloud object retrieval and pose estimation method, called PCRP, is proposed in this work. It is assumed that there exists a gallery point cloud set that contains point cloud objects with given pose orientation…

The objective of this work is to develop a data processing system that can automatically generate waypoints for navigation of an unmanned aerial vehicle (UAV) to inspect surfaces of structures like buildings and bridges. The input includes…

Keypoint detector and descriptor are two main components of point cloud registration. Previous learning-based keypoint detectors rely on saliency estimation for each point or farthest point sample (FPS) for candidate points selection, which…

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the…

Object discovery is a core task in computer vision. While fast progresses have been made in supervised object detection, its unsupervised counterpart remains largely unexplored. With the growth of data volume, the expensive cost of…

Detecting anomalies from 3D point clouds has received increasing attention in the field of computer vision, with some group-based or point-based methods achieving impressive results in recent years. However, learning accurate point-wise…