相关论文: Rotation Invariant Point Cloud Classification: Whe…

Point cloud registration aims to provide estimated transformations to align point clouds, which plays a crucial role in pose estimation of various navigation systems, such as surgical guidance systems and autonomous vehicles. Despite the…

Rotational invariance is a popular inductive bias used by many fields in machine learning, such as computer vision and machine learning for quantum chemistry. Rotation-invariant machine learning methods set the state of the art for many…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

Point-cloud is an efficient way to represent 3D world. Analysis of point-cloud deals with understanding the underlying 3D geometric structure. But due to the lack of smooth topology, and hence the lack of neighborhood structure, standard…

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.…

We propose a general method for deep learning based point cloud analysis, which is invariant to rotation on the inputs. Classical methods are vulnerable to rotation, as they usually take aligned point clouds as input. Principle Component…

Recent advances in rotation-invariant (RI) learning for 3D point clouds typically replace raw coordinates with handcrafted RI features to ensure robustness under arbitrary rotations. However, these approaches often suffer from the loss of…

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…

In recent years, point cloud upsampling has been widely applied in tasks such as 3D reconstruction and object recognition. This study proposed a novel framework, ReLPU, which enhances upsampling performance by explicitly learning from both…

Point cloud analysis is challenging due to irregularity and unordered data structure. To capture the 3D geometries, prior works mainly rely on exploring sophisticated local geometric extractors using convolution, graph, or attention…

Point cloud data is pivotal in applications like autonomous driving, virtual reality, and robotics. However, its substantial volume poses significant challenges in storage and transmission. In order to obtain a high compression ratio,…

3D anomaly detection in point-cloud data is critical for industrial quality control, aiming to identify structural defects with high reliability. However, current memory bank-based methods often suffer from inconsistent feature…

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…

LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…

Matching 3D rigid point clouds in complex environments robustly and accurately is still a core technique used in many applications. This paper proposes a new architecture combining error estimation from sample covariances and dual global…

Point cloud analysis is very challenging, as the shape implied in irregular points is difficult to capture. In this paper, we propose RS-CNN, namely, Relation-Shape Convolutional Neural Network, which extends regular grid CNN to irregular…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

The use of local detectors and descriptors in typical computer vision pipelines work well until variations in viewpoint and appearance change become extreme. Past research in this area has typically focused on one of two approaches to this…

In spite of the recent progresses on classifying 3D point cloud with deep CNNs, large geometric transformations like rotation and translation remain challenging problem and harm the final classification performance. To address this…

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…