相关论文: Exploiting Local and Global Structure for Point Cl…

In this paper, we tackle the challenging problem of point cloud completion from the perspective of feature learning. Our key observation is that to recover the underlying structures as well as surface details, given partial input, a…

Geometrical structures and the internal local region relationship, such as symmetry, regular array, junction, etc., are essential for understanding a 3D shape. This paper proposes a point cloud feature extraction network named PointSCNet,…

Point cloud is one of the widely used techniques for representing and storing 3D geometric data. In the past several methods have been proposed for processing point clouds. Methods such as PointNet and FoldingNet have shown promising…

We achieve 3D semantic scene labeling by exploring semantic relation between each point and its contextual neighbors through edges. Besides an encoder-decoder branch for predicting point labels, we construct an edge branch to hierarchically…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

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,…

Unsupervised domain adaptation for point cloud semantic segmentation has attracted great attention due to its effectiveness in learning with unlabeled data. Most of existing methods use global-level feature alignment to transfer the…

Learning meaningful local and global information remains a challenge in point cloud segmentation tasks. When utilizing local information, prior studies indiscriminately aggregates neighbor information from different classes to update query…

We tackle the novel class discovery in point cloud segmentation, which discovers novel classes based on the semantic knowledge of seen classes. Existing work proposes an online point-wise clustering method with a simplified equal class-size…

Semantic Segmentation (SS) of LiDAR point clouds is essential for many applications, such as urban planning and autonomous driving. While much progress has been made in interpreting SS predictions for images, interpreting point cloud SS…

Deep learning on the point cloud is increasingly developing. Grouping the point with its neighbors and conducting convolution-like operation on them can learn the local feature of the point cloud, but this method is weak to extract the…

Point cloud processing is very challenging, as the diverse shapes formed by irregular points are often indistinguishable. A thorough grasp of the elusive shape requires sufficiently contextual semantic information, yet few works devote to…

Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. Applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the lack of…

Instance segmentation is an important task for scene understanding. Compared to the fully-developed 2D, 3D instance segmentation for point clouds have much room to improve. In this paper, we present PointGroup, a new end-to-end bottom-up…

Feature encoding is essential for point cloud analysis. In this paper, we propose a novel point convolution operator named Shell Point Convolution (SPConv) for shape encoding and local context learning. Specifically, SPConv splits 3D…

Semantic segmentation of building facade is significant in various applications, such as urban building reconstruction and damage assessment. As there is a lack of 3D point clouds datasets related to the fine-grained building facade, we…

Online semantic 3D segmentation in company with real-time RGB-D reconstruction poses special challenges such as how to perform 3D convolution directly over the progressively fused 3D geometric data, and how to smartly fuse information from…

3D semantic scene labeling is fundamental to agents operating in the real world. In particular, labeling raw 3D point sets from sensors provides fine-grained semantics. Recent works leverage the capabilities of Neural Networks (NNs), but…

Point clouds analysis has grasped researchers' eyes in recent years, while 3D semantic segmentation remains a problem. Most deep point clouds models directly conduct learning on 3D point clouds, which will suffer from the severe sparsity…