相关论文: Conf-Net: Toward High-Confidence Dense 3D Point-Cl…

The task of point cloud completion aims to predict the missing part for an incomplete 3D shape. A widely used strategy is to generate a complete point cloud from the incomplete one. However, the unordered nature of point clouds will degrade…

Point cloud completion is the task of predicting complete geometry from partial observations using a point set representation for a 3D shape. Previous approaches propose neural networks to directly estimate the whole point cloud through…

Despite the progress on 3D point cloud deep learning, most prior works focus on learning features that are invariant to translation and point permutation, and very limited efforts have been devoted for rotation invariant property. Several…

Depth completion, the technique of estimating a dense depth image from sparse depth measurements, has a variety of applications in robotics and autonomous driving. However, depth completion faces 3 main challenges: the irregularly spaced…

Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…

3D face recognition has shown its potential in many application scenarios. Among numerous 3D face recognition methods, deep-learning-based methods have developed vigorously in recent years. In this paper, an end-to-end deep learning network…

Whilst the availability of 3D LiDAR point cloud data has significantly grown in recent years, annotation remains expensive and time-consuming, leading to a demand for semi-supervised semantic segmentation methods with application domains…

LiDAR-produced point clouds are the major source for most state-of-the-art 3D object detectors. Yet, small, distant, and incomplete objects with sparse or few points are often hard to detect. We present Sparse2Dense, a new framework to…

In modern agriculture, precise monitoring of plants and fruits is crucial for tasks such as high-throughput phenotyping and automated harvesting. This paper addresses the challenge of reconstructing accurate 3D shapes of fruits from partial…

Depth completion aims to recover a dense depth map from a sparse depth map with the corresponding color image as input. Recent approaches mainly formulate depth completion as a one-stage end-to-end learning task, which outputs dense depth…

Point cloud compression (PCC) is a key enabler for various 3-D applications, owing to the universality of the point cloud format. Ideally, 3D point clouds endeavor to depict object/scene surfaces that are continuous. Practically, as a set…

Conventional methods of 3D object generative modeling learn volumetric predictions using deep networks with 3D convolutional operations, which are direct analogies to classical 2D ones. However, these methods are computationally wasteful in…

Diffusion models are a powerful framework for tackling ill-posed problems, with recent advancements extending their use to point cloud upsampling. Despite their potential, existing diffusion models struggle with inefficiencies as they map…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

As an essential procedure of data fusion, LiDAR-camera calibration is critical for autonomous vehicles and robot navigation. Most calibration methods rely on hand-crafted features and require significant amounts of extracted features or…

We propose a novel normal estimation method called HSurf-Net, which can accurately predict normals from point clouds with noise and density variations. Previous methods focus on learning point weights to fit neighborhoods into a geometric…

We introduce a simple yet effective fusion method of LiDAR and RGB data to segment LiDAR point clouds. Utilizing the dense native range representation of a LiDAR sensor and the setup calibration, we establish point correspondences between…

In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…

The performance of 3D object detection models over point clouds highly depends on their capability of modeling local geometric patterns. Conventional point-based models exploit local patterns through a symmetric function (e.g. max pooling)…

LiDAR sensors are often considered essential for autonomous driving, but high-resolution sensors remain expensive while affordable low-resolution sensors produce sparse point clouds that miss critical details. LiDAR super-resolution…