相关论文: Point Cloud Instance Segmentation using Probabilis…

Panoptic segmentation has recently unified semantic and instance segmentation, previously addressed separately, thus taking a step further towards creating more comprehensive and efficient perception systems. In this paper, we present…

In this paper, we propose a unified framework for sampling, clustering and embedding data points in semi-metric spaces. For a set of data points $\Omega=\{x_1, x_2, \ldots, x_n\}$ in a semi-metric space, we consider a complete graph with…

Modern 3D semantic instance segmentation approaches predominantly rely on specialized voting mechanisms followed by carefully designed geometric clustering techniques. Building on the successes of recent Transformer-based methods for object…

We focus on the problem of class-agnostic instance segmentation of LiDAR point clouds. We propose an approach that combines graph-theoretic search with data-driven learning: it searches over a set of candidate segmentations and returns one…

Existing fully-supervised point cloud segmentation methods suffer in the dynamic testing environment with emerging new classes. Few-shot point cloud segmentation algorithms address this problem by learning to adapt to new classes at the…

In this work, a language-level Semantics Conditioned framework for 3D Point cloud segmentation, called SeCondPoint, is proposed, where language-level semantics are introduced to condition the modeling of point feature distribution as well…

With the tide of artificial intelligence, we try to apply deep learning to understand 3D data. Point cloud is an important 3D data structure, which can accurately and directly reflect the real world. In this paper, we propose a simple and…

We propose a novel probabilistic dimensionality reduction framework that can naturally integrate the generative model and the locality information of data. Based on this framework, we present a new model, which is able to learn a smooth…

Recent developments in the 3D scanning technologies have made the generation of highly accurate 3D point clouds relatively easy but the segmentation of these point clouds remains a challenging area. A number of techniques have set precedent…

We propose a mechanism to reconstruct part annotated 3D point clouds of objects given just a single input image. We demonstrate that jointly training for both reconstruction and segmentation leads to improved performance in both the tasks,…

We study the problem of efficient semantic segmentation of large-scale 3D point clouds. By relying on expensive sampling techniques or computationally heavy pre/post-processing steps, most existing approaches are only able to be trained and…

This paper presents an effective normal estimation method adopting multi-patch stitching for an unstructured point cloud. The majority of learning-based approaches encode a local patch around each point of a whole model and estimate the…

Point cloud segmentation (PCS) is to classify each point in point clouds. The task enables robots to parse their 3D surroundings and run autonomously. According to different point cloud representations, existing PCS models can be roughly…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

Deep classifiers tend to associate a few discriminative input variables with their objective function, which in turn, may hurt their generalization capabilities. To address this, one can design systematic experiments and/or inspect the…

We propose a new framework that formulates point cloud registration as a denoising diffusion process from noisy transformation to object transformation. During training stage, object transformation diffuses from ground-truth transformation…

In the past few years, we have seen great progress in perception algorithms, particular through the use of deep learning. However, most existing approaches focus on a few categories of interest, which represent only a small fraction of the…

3D instance segmentation plays a crucial role in comprehending 3D scenes. Despite recent advancements in this field, existing approaches exhibit certain limitations. These methods often rely on fixed instance positions obtained from sampled…

Most real-world 3D measurements from depth sensors are incomplete, and to address this issue the point cloud completion task aims to predict the complete shapes of objects from partial observations. Previous works often adapt an…

We introduce a modified model of random walk, and then develop two novel clustering algorithms based on it. In the algorithms, each data point in a dataset is considered as a particle which can move at random in space according to the…