相关论文: DeepPoint3D: Learning Discriminative Local Descrip…

Existing learning-based point feature descriptors are usually task-agnostic, which pursue describing the individual 3D point clouds as accurate as possible. However, the matching task aims at describing the corresponding points consistently…

We propose a new supervized learning framework for oversegmenting 3D point clouds into superpoints. We cast this problem as learning deep embeddings of the local geometry and radiometry of 3D points, such that the border of objects presents…

We present a new method for the unsupervised detection of geometric anomalies in high-resolution 3D point clouds. In particular, we propose an adaptation of the established student-teacher anomaly detection framework to three dimensions. A…

Point cloud learning has lately attracted increasing attention due to its wide applications in many areas, such as computer vision, autonomous driving, and robotics. As a dominating technique in AI, deep learning has been successfully used…

Recent research has shown that mmWave radar sensing is effective for object detection in low visibility environments, which makes it an ideal technique in autonomous navigation systems such as autonomous vehicles. However, due to the…

We present a new local descriptor for 3D shapes, directly applicable to a wide range of shape analysis problems such as point correspondences, semantic segmentation, affordance prediction, and shape-to-scan matching. The descriptor is…

In this work, we present a novel method called WSDesc to learn 3D local descriptors in a weakly supervised manner for robust point cloud registration. Our work builds upon recent 3D CNN-based descriptor extractors, which leverage a…

Recently, great progress has been made in 3D deep learning with the emergence of deep neural networks specifically designed for 3D point clouds. These networks are often trained from scratch or from pre-trained models learned purely from…

Deep learning techniques for point clouds have achieved strong performance on a range of 3D vision tasks. However, it is costly to annotate large-scale point sets, making it critical to learn generalizable representations that can transfer…

Normal estimation on 3D point clouds is a fundamental problem in 3D vision and graphics. Current methods often show limited accuracy in predicting normals at sharp features (e.g., edges and corners) and less robustness to noise. In this…

To better address challenging issues of the irregularity and inhomogeneity inherently present in 3D point clouds, researchers have been shifting their focus from the design of hand-craft point feature towards the learning of 3D point…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

Feature descriptors of point clouds are used in several applications, such as registration and part segmentation of 3D point clouds. Learning discriminative representations of local geometric features is unquestionably the most important…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

We address the problem of learning accurate 3D shape and camera pose from a collection of unlabeled category-specific images. We train a convolutional network to predict both the shape and the pose from a single image by minimizing the…

In this paper, we present a deep learning architecture which addresses the problem of 3D semantic segmentation of unstructured point clouds. Compared to previous work, we introduce grouping techniques which define point neighborhoods in the…

Large-scale point cloud generated from 3D sensors is more accurate than its image-based counterpart. However, it is seldom used in visual pose estimation due to the difficulty in obtaining 2D-3D image to point cloud correspondences. In this…

Understanding and representing the structure of 3D objects in an unsupervised manner remains a core challenge in computer vision and graphics. Most existing unsupervised keypoint methods are not designed for unconditional generative…

Learning to generate 3D point clouds without 3D supervision is an important but challenging problem. Current solutions leverage various differentiable renderers to project the generated 3D point clouds onto a 2D image plane, and train deep…