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

Previous studies have demonstrated the effectiveness of point-based neural models on the point cloud analysis task. However, there remains a crucial issue on producing the efficient input embedding for raw point coordinates. Moreover,…

In this paper, we propose one novel model for point cloud semantic segmentation, which exploits both the local and global structures within the point cloud based on the contextual point representations. Specifically, we enrich each point…

Despite the recent active research on processing point clouds with deep networks, few attention has been on the sensitivity of the networks to rotations. In this paper, we propose a deep learning architecture that achieves discrete…

One of the main challenges in LiDAR-based 3D object detection is that the sensors often fail to capture the complete spatial information about the objects due to long distance and occlusion. Two-stage detectors with point cloud completion…

Real-world point clouds usually suffer from incompleteness and display different poses. While current point cloud completion methods excel in reproducing complete point clouds with consistent poses as seen in the training set, their…

Point cloud is often regarded as a discrete sampling of Riemannian manifold and plays a pivotal role in the 3D image interpretation. Particularly, rotation perturbation, an unexpected small change in rotation caused by various factors (like…

Rigid registration of point clouds is a fundamental problem in computer vision with many applications from 3D scene reconstruction to geometry capture and robotics. If a suitable initial registration is available, conventional methods like…

The introduction of cheap RGB-D cameras, stereo cameras, and LIDAR devices has given the computer vision community 3D information that conventional RGB cameras cannot provide. This data is often stored as a point cloud. In this paper, we…

Point cloud super-resolution is a fundamental problem for 3D reconstruction and 3D data understanding. It takes a low-resolution (LR) point cloud as input and generates a high-resolution (HR) point cloud with rich details. In this paper, we…

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…

Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is presented by achieving place recognition and metric pose estimation…

Exploiting fine-grained semantic features on point cloud is still challenging due to its irregular and sparse structure in a non-Euclidean space. Among existing studies, PointNet provides an efficient and promising approach to learn shape…

Understanding the implication of point cloud is still challenging to achieve the goal of classification or segmentation due to the irregular and sparse structure of point cloud. As we have known, PointNet architecture as a ground-breaking…

Point cloud registration for 3D objects is a challenging task due to sparse and noisy measurements, incomplete observations and large transformations. In this work, we propose \textbf{G}raph \textbf{M}atching \textbf{C}onsensus…

Learning rotation-invariant distinctive features is a fundamental requirement for point cloud registration. Existing methods often use rotation-sensitive networks to extract features, while employing rotation augmentation to learn an…

The use of infrastructure sensor technology for traffic detection has already been proven several times. However, extrinsic sensor calibration is still a challenge for the operator. While previous approaches are unable to calibrate the…

Reliable robotic grasping in unstructured environments is a crucial but challenging task. The main problem is to generate the optimal grasp of novel objects from partial noisy observations. This paper presents an end-to-end grasp detection…

Data organization via forming local regions is an integral part of deep learning networks that process 3D point clouds in a hierarchical manner. At each level, the point cloud is sampled to extract representative points and these points are…

Features that are equivariant to a larger group of symmetries have been shown to be more discriminative and powerful in recent studies. However, higher-order equivariant features often come with an exponentially-growing computational cost.…

Point clouds are an increasingly relevant data type but they are often corrupted by noise. We propose a deep neural network based on graph-convolutional layers that can elegantly deal with the permutation-invariance problem encountered by…