相关论文: Rotation Invariant Convolutions for 3D Point Cloud…

The development of practical applications, such as autonomous driving and robotics, has brought increasing attention to 3D point cloud understanding. While deep learning has achieved remarkable success on image-based tasks, there are many…

Point cloud analysis is a fundamental task in 3D computer vision. Most previous works have conducted experiments on synthetic datasets with well-aligned data; while real-world point clouds are often not pre-aligned. How to achieve rotation…

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…

In this paper, we present a novel deep method to reconstruct a point cloud of an object from a single still image. Prior arts in the field struggle to reconstruct an accurate and scalable 3D model due to either the inefficient and expensive…

Invariance against rotations of 3D objects is an important property in analyzing 3D point set data. Conventional 3D point set DNNs having rotation invariance typically obtain accurate 3D shape features via supervised learning by using…

Modern image encoders achieve high generalization by decoupling semantic meaning from resolution, an ability yet to be fully realized in the 3D domain. We investigate the failure of 3D point cloud encoders to achieve similar generalization…

Point cloud analysis has a wide range of applications in many areas such as computer vision, robotic manipulation, and autonomous driving. While deep learning has achieved remarkable success on image-based tasks, there are many unique…

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,…

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…

We address the problem of learning accurate 3D shape and camera pose from a collection of unlabeled category-specific images. We train a convolutional network to predict both the shape and the pose from a single image by minimizing the…

The success of deep learning methods led to significant breakthroughs in 3-D point cloud processing tasks with applications in remote sensing. Existing methods utilize convolutions that have some limitations, as they assume a uniform input…

In recent years, there has been a significant increase in the utilization of deep learning methods, particularly convolutional neural networks (CNNs), which have emerged as the dominant approach in various domains that involve structured…

Recent deep networks that directly handle points in a point set, e.g., PointNet, have been state-of-the-art for supervised learning tasks on point clouds such as classification and segmentation. In this work, a novel end-to-end deep…

Previous top-performing approaches for point cloud instance segmentation involve a bottom-up strategy, which often includes inefficient operations or complex pipelines, such as grouping over-segmented components, introducing additional…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…

Point clouds data, as one kind of representation of 3D objects, are the most primitive output obtained by 3D sensors. Unlike 2D images, point clouds are disordered and unstructured. Hence it is not straightforward to apply classification…

Efficient point cloud compression is fundamental to enable the deployment of virtual and mixed reality applications, since the number of points to code can range in the order of millions. In this paper, we present a novel data-driven…

Learning local descriptors is an important problem in computer vision. While there are many techniques for learning local patch descriptors for 2D images, recently efforts have been made for learning local descriptors for 3D points. The…

Recently, the advancement of 3D point clouds in deep learning has attracted intensive research in different application domains such as computer vision and robotic tasks. However, creating feature representation of robust, discriminative…

Various recent methods attempt to implement rotation-invariant 3D deep learning by replacing the input coordinates of points with relative distances and angles. Due to the incompleteness of these low-level features, they have to undertake…