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

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

Semantic segmentation and semantic edge detection can be seen as two dual problems with close relationships in computer vision. Despite the fast evolution of learning-based 3D semantic segmentation methods, little attention has been drawn…

Semantic Segmentation is a crucial component in the perception systems of many applications, such as robotics and autonomous driving that rely on accurate environmental perception and understanding. In literature, several approaches are…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

Monocular depth estimation and semantic segmentation are two fundamental goals of scene understanding. Due to the advantages of task interaction, many works study the joint task learning algorithm. However, most existing methods fail to…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

Semantic 3D building models are widely available and used in numerous applications. Such 3D building models display rich semantics but no fa\c{c}ade openings, chiefly owing to their aerial acquisition techniques. Hence, refining models'…

Point clouds are an efficient data format for 3D data. However, existing 3D segmentation methods for point clouds either do not model local dependencies \cite{pointnet} or require added computations \cite{kd-net,pointnet2}. This work…

In this paper, we propose Neural Points, a novel point cloud representation and apply it to the arbitrary-factored upsampling task. Different from traditional point cloud representation where each point only represents a position or a local…

Existing deep learning algorithms for point cloud analysis mainly concern discovering semantic patterns from global configuration of local geometries in a supervised learning manner. However, very few explore geometric properties revealing…

In this case study, we present a data-efficient point cloud segmentation pipeline and training framework for robust segmentation of unimproved roads and seven other classes. Our method employs a two-stage training framework: first, a…

We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet). Our model can extract both the domain private features and the domain shared features with a two-branch structure. We embedded…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

While deep learning-based methods have demonstrated outstanding results in numerous domains, some important functionalities are missing. Resolution scalability is one of them. In this work, we introduce a novel architecture, dubbed…

Semantic segmentation of LiDAR points has significant value for autonomous driving and mobile robot systems. Most approaches explore spatio-temporal information of multi-scan to identify the semantic classes and motion states for each…

Most existing point cloud instance and semantic segmentation methods rely heavily on strong supervision signals, which require point-level labels for every point in the scene. However, such strong supervision suffers from large annotation…

While massively scaling both data and models have become central in NLP and 2D vision, their benefits for 3D point cloud understanding remain limited. We study the initial step of scaling 3D point cloud understanding under a realistic…

Feature learning on point clouds has shown great promise, with the introduction of effective and generalizable deep learning frameworks such as pointnet++. Thus far, however, point features have been abstracted in an independent and…

Point cloud completion referring to completing 3D shapes from partial 3D point clouds is a fundamental problem for 3D point cloud analysis tasks. Benefiting from the development of deep neural networks, researches on point cloud completion…

Learning discriminative feature directly on point clouds is still challenging in the understanding of 3D shapes. Recent methods usually partition point clouds into local region sets, and then extract the local region features with…