相关论文: Modeling Point Clouds with Self-Attention and Gumb…

High quality upsampling of sparse 3D point clouds is critically useful for a wide range of geometric operations such as reconstruction, rendering, meshing, and analysis. In this paper, we propose a data-driven algorithm that enables an…

Transformer-based networks have achieved impressive performance in 3D point cloud understanding. However, most of them concentrate on aggregating local features, but neglect to directly model global dependencies, which results in a limited…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

3D object detection is an essential vision technique for various robotic systems, such as augmented reality and domestic robots. Transformers as versatile network architectures have recently seen great success in 3D point cloud object…

Point clouds upsampling is a challenging issue to generate dense and uniform point clouds from the given sparse input. Most existing methods either take the end-to-end supervised learning based manner, where large amounts of pairs of sparse…

Generalized Few-shot Semantic Segmentation (GFSS) aims to segment each image pixel into either base classes with abundant training examples or novel classes with only a handful of (e.g., 1-5) training images per class. Compared to the…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

Point cloud data has been extensively studied due to its compact form and flexibility in representing complex 3D structures. The ability of point cloud data to accurately capture and represent intricate 3D geometry makes it an ideal choice…

As a pioneering work exploring transformer architecture for 3D point cloud understanding, Point Transformer achieves impressive results on multiple highly competitive benchmarks. In this work, we analyze the limitations of the Point…

Deep learning models are the state-of-the-art methods for semantic point cloud segmentation, the success of which relies on the availability of large-scale annotated datasets. However, it can be extremely time-consuming and prohibitively…

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…

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.…

In this paper, we examine the long-neglected yet important effects of point sampling patterns in point cloud GANs. Through extensive experiments, we show that sampling-insensitive discriminators (e.g.PointNet-Max) produce shape point clouds…

Recently, arbitrary-scale point cloud upsampling mechanism became increasingly popular due to its efficiency and convenience for practical applications. To achieve this, most previous approaches formulate it as a problem of surface…

The increased availability of massive point clouds coupled with their utility in a wide variety of applications such as robotics, shape synthesis, and self-driving cars has attracted increased attention from both industry and academia.…

We introduce a novel technique for neural point cloud consolidation which learns from only the input point cloud. Unlike other point upsampling methods which analyze shapes via local patches, in this work, we learn from global subsets. We…

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…

We present a novel attention-based mechanism to learn enhanced point features for point cloud processing tasks, e.g., classification and segmentation. Unlike prior works, which were trained to optimize the weights of a pre-selected set of…

This report presents our method which wins the nuScenes3D Detection Challenge [17] held in Workshop on Autonomous Driving(WAD, CVPR 2019). Generally, we utilize sparse 3D convolution to extract rich semantic features, which are then fed…

Point cloud sampling is a less explored research topic for this data representation. The most commonly used sampling methods are still classical random sampling and farthest point sampling. With the development of neural networks, various…