相关论文: PCRNet: Point Cloud Registration Network using Poi…

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…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

Deep learning approaches have made tremendous progress in the field of semantic segmentation over the past few years. However, most current approaches operate in the 2D image space. Direct semantic segmentation of unstructured 3D point…

We present a novel non-iterative learnable method for partial-to-partial 3D shape registration. The partial alignment task is extremely complex, as it jointly tries to match between points and identify which points do not appear in the…

Point cloud segmentation and classification are some of the primary tasks in 3D computer vision with applications ranging from augmented reality to robotics. However, processing point clouds using deep learning-based algorithms is quite…

This paper presents Point Convolutional Neural Networks (PCNN): a novel framework for applying convolutional neural networks to point clouds. The framework consists of two operators: extension and restriction, mapping point cloud functions…

Point clouds are characterized by irregularity and unstructuredness, which pose challenges in efficient data exploitation and discriminative feature extraction. In this paper, we present an unsupervised deep neural architecture called…

Point set registration is defined as a process to determine the spatial transformation from the source point set to the target one. Existing methods often iteratively search for the optimal geometric transformation to register a given pair…

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…

Point cloud registration plays a crucial role in various computer vision tasks, and usually demands the resolution of partial overlap registration in practice. Most existing methods perform a serial calculation of rotation and translation,…

Humans are able to perform fast and accurate object pose estimation even under severe occlusion by exploiting learned object model priors from everyday life. However, most recently proposed pose estimation algorithms neglect to utilize the…

Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…

Low-overlap regions between paired point clouds make the captured features very low-confidence, leading cutting edge models to point cloud registration with poor quality. Beyond the traditional wisdom, we raise an intriguing question: Is it…

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.…

Unlike on images, semantic learning on 3D point clouds using a deep network is challenging due to the naturally unordered data structure. Among existing works, PointNet has achieved promising results by directly learning on point sets.…

Estimating the complete 3D point cloud from an incomplete one is a key problem in many vision and robotics applications. Mainstream methods (e.g., PCN and TopNet) use Multi-layer Perceptrons (MLPs) to directly process point clouds, which…

We present a novel deep learning framework for flow field predictions in irregular domains when the solution is a function of the geometry of either the domain or objects inside the domain. Grid vertices in a computational fluid dynamics…

Point clouds have become increasingly vital across various applications thanks to their ability to realistically depict 3D objects and scenes. Nevertheless, effectively compressing unstructured, high-precision point cloud data remains a…

Registering an object shape to a sequence of point clouds undergoing non-rigid deformation is a long-standing challenge. The key difficulties stem from two factors: (i) the presence of local minima due to the non-convexity of registration…

Point cloud registration methods can effectively handle large-scale, partially overlapping point cloud pairs. Despite its practicality, matching the unbalanced pairs in terms of spatial extent and density has been overlooked and rarely…