相关论文: Deformable Filter Convolution for Point Cloud Reas…

Classification and segmentation of 3D point clouds are important tasks in computer vision. Because of the irregular nature of point clouds, most of the existing methods convert point clouds into regular 3D voxel grids before they are used…

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…

Recent advances in deep learning for 3D point clouds have shown great promises in scene understanding tasks thanks to the introduction of convolution operators to consume 3D point clouds directly in a neural network. Point cloud data,…

Traditional convolution layers are specifically designed to exploit the natural data representation of images -- a fixed and regular grid. However, unstructured data like 3D point clouds containing irregular neighborhoods constantly breaks…

Explainability is an important factor to drive user trust in the use of neural networks for tasks with material impact. However, most of the work done in this area focuses on image analysis and does not take into account 3D data. We extend…

LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…

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…

The recent success of neural networks enables a better interpretation of 3D point clouds, but processing a large-scale 3D scene remains a challenging problem. Most current approaches divide a large-scale scene into small regions and combine…

Automatic synthesis of high quality 3D shapes is an ongoing and challenging area of research. While several data-driven methods have been proposed that make use of neural networks to generate 3D shapes, none of them reach the level of…

We propose a neural network for 3D point cloud processing that exploits `spherical' convolution kernels and octree partitioning of space. The proposed metric-based spherical kernels systematically quantize point neighborhoods to identify…

This paper presents a learning-based, lossless compression method for static point cloud geometry, based on context-adaptive arithmetic coding. Unlike most existing methods working in the octree domain, our encoder operates in a hybrid…

Point cloud compression plays a crucial role in reducing the huge cost of data storage and transmission. However, distortions can be introduced into the decompressed point clouds due to quantization. In this paper, we propose a novel…

LiDAR-based 3D object detection and classification is crucial for autonomous driving. However, real-time inference from extremely sparse 3D data is a formidable challenge. To address this problem, a typical class of approaches transforms…

Point clouds are a very efficient way to represent volumetric data in medical imaging. First, they do not occupy resources for empty spaces and therefore can avoid trade-offs between resolution and field-of-view for voxel-based 3D…

Although accurate and fast point cloud classification is a fundamental task in 3D applications, it is difficult to achieve this purpose due to the irregularity and disorder of point clouds that make it challenging to achieve effective and…

Existing convolutional learning methods for 3D point cloud data are divided into two paradigms: point-based methods that preserve geometric precision but often face performance challenges, and voxel-based methods that achieve high…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

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…

Point cloud filtering is a fundamental problem in geometry modeling and processing. Despite of significant advancement in recent years, the existing methods still suffer from two issues: 1) they are either designed without preserving sharp…

Thanks to the application of deep learning technology in point cloud processing of the remote sensing field, point cloud segmentation has become a research hotspot in recent years, which can be applied to real-world 3D, smart cities, and…