相关论文: Spatial Transformer for 3D Point Clouds

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

3D scene understanding from point clouds plays a vital role for various robotic applications. Unfortunately, current state-of-the-art methods use separate neural networks for different tasks like object detection or room layout estimation.…

This paper investigates multi-scale feature approximation and transferable features for object detection from point clouds. Multi-scale features are critical for object detection from point clouds. However, multi-scale feature learning…

Point clouds have grown in importance in the way computers perceive the world. From LIDAR sensors in autonomous cars and drones to the time of flight and stereo vision systems in our phones, point clouds are everywhere. Despite their…

Point cloud data now are popular data representations in a number of three-dimensional (3D) vision research realms. However, due to the limited performance of sensors and sensing noise, the raw data usually suffer from sparsity, noise, and…

Deep neural networks require specific layers to process point clouds, as the scattered and irregular location of 3D points prevents the use of conventional convolutional filters. We introduce the composite layer, a flexible and general…

In order to achieve better performance for point cloud analysis, many researchers apply deeper neural networks using stacked Multi-Layer-Perceptron (MLP) convolutions over irregular point cloud. However, applying dense MLP convolutions over…

We propose simple yet effective improvements in point representations and local neighborhood graph construction within the general framework of graph neural networks (GNNs) for 3D point cloud processing. As a first contribution, we propose…

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention, but ignore their content and fail to establish relationships…

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,…

Most existing methods realize 3D instance segmentation by extending those models used for 3D object detection or 3D semantic segmentation. However, these non-straightforward methods suffer from two drawbacks: 1) Imprecise bounding boxes or…

3D point cloud semantic segmentation is one of the fundamental tasks for 3D scene understanding and has been widely used in the metaverse applications. Many recent 3D semantic segmentation methods learn a single prototype (classifier…

Learning discriminative shape representation directly on point clouds is still challenging in 3D shape analysis and understanding. Recent studies usually involve three steps: first splitting a point cloud into some local regions, then…

In this paper, we propose Attention Based Decomposition Network (ABD-Net), for point cloud decomposition into basic geometric shapes namely, plane, sphere, cone and cylinder. We show improved performance of 3D object classification using…

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…

Dense captioning in 3D point clouds is an emerging vision-and-language task involving object-level 3D scene understanding. Apart from coarse semantic class prediction and bounding box regression as in traditional 3D object detection, 3D…

We present a simple but yet effective method for learning distinctive 3D local deep descriptors (DIPs) that can be used to register point clouds without requiring an initial alignment. Point cloud patches are extracted, canonicalised with…

Remarkable performance from Transformer networks in Natural Language Processing promote the development of these models in dealing with computer vision tasks such as image recognition and segmentation. In this paper, we introduce a novel…

Recent advances in deep convolutional neural networks (CNNs) have motivated researchers to adapt CNNs to directly model points in 3D point clouds. Modeling local structure has been proven to be important for the success of convolutional…