相关论文: PyramNet: Point Cloud Pyramid Attention Network an…

Point clouds provide a flexible geometric representation suitable for countless applications in computer graphics; they also comprise the raw output of most 3D data acquisition devices. While hand-designed features on point clouds have long…

Segmentation of three-dimensional (3D) point clouds is an important task for autonomous systems. However, success of segmentation algorithms depends greatly on the quality of the underlying point clouds (resolution, completeness etc.). In…

Instance segmentation is an important task for scene understanding. Compared to the fully-developed 2D, 3D instance segmentation for point clouds have much room to improve. In this paper, we present PointGroup, a new end-to-end bottom-up…

We propose a mechanism to reconstruct part annotated 3D point clouds of objects given just a single input image. We demonstrate that jointly training for both reconstruction and segmentation leads to improved performance in both the tasks,…

This paper introduces a novel approach for 3D semantic instance segmentation on point clouds. A 3D convolutional neural network called submanifold sparse convolutional network is used to generate semantic predictions and instance embeddings…

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.…

Object detection in three-dimensional (3D) space attracts much interest from academia and industry since it is an essential task in AI-driven applications such as robotics, autonomous driving, and augmented reality. As the basic format of…

In this article we describe a new convolutional neural network (CNN) to classify 3D point clouds of urban or indoor scenes. Solutions are given to the problems encountered working on scene point clouds, and a network is described that…

Surface-based geodesic topology provides strong cues for object semantic analysis and geometric modeling. However, such connectivity information is lost in point clouds. Thus we introduce GeoNet, the first deep learning architecture trained…

In point cloud analysis tasks, the existing local feature aggregation descriptors (LFAD) are unable to fully utilize information in the neighborhood of central points. Previous methods rely solely on Euclidean distance to constrain the…

In this paper, we present a comprehensive point cloud semantic segmentation network that aggregates both local and global multi-scale information. First, we propose an Angle Correlation Point Convolution (ACPConv) module to effectively…

With the rapid progress of deep convolutional neural networks, in almost all robotic applications, the availability of 3D point clouds improves the accuracy of 3D semantic segmentation methods. Rendering of these irregular, unstructured,…

Understanding 3D point cloud models for learning purposes has become an imperative challenge for real-world identification such as autonomous driving systems. A wide variety of solutions using deep learning have been proposed for point…

As two fundamental representation modalities of 3D objects, 3D point clouds and multi-view 2D images record shape information from different domains of geometric structures and visual appearances. In the current deep learning era,…

Efficient analysis of point clouds holds paramount significance in real-world 3D applications. Currently, prevailing point-based models adhere to the PointNet++ methodology, which involves embedding and abstracting point features within a…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

Point cloud segmentation (PCS) aims to separate points into different and meaningful groups. The task plays an important role in robotics because PCS enables robots to understand their physical environments directly. To process sparse and…

The emergence of large-scale pre-trained point cloud models has significantly advanced 3D scene understanding, but adapting these models to specific downstream tasks typically demands full fine-tuning, incurring high computational and…

Point clouds are a popular representation for 3D shapes. However, they encode a particular sampling without accounting for shape priors or non-local information. We advocate for the use of a hierarchical Gaussian mixture model (hGMM), which…

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…