相关论文: One Framework to Register Them All: PointNet Encod…

Extracting robust and general 3D local features is key to downstream tasks such as point cloud registration and reconstruction. Existing learning-based local descriptors are either sensitive to rotation transformations, or rely on classical…

Significant progress has been made recently in point cloud segmentation utilizing an encoder-decoder framework, which initially encodes point clouds into low-resolution representations and subsequently decodes high-resolution predictions.…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

We present a novel approach to learning a point-wise, meaningful embedding for point-clouds in an unsupervised manner, through the use of neural-networks. The domain of point-cloud processing via neural-networks is rapidly evolving, with…

Deep neural networks endow the downsampled superpoints with highly discriminative feature representations. Previous dominant point cloud registration approaches match these feature representations as the first step, e.g., using the Sinkhorn…

Robot localization using a built map is essential for a variety of tasks including accurate navigation and mobile manipulation. A popular approach to robot localization is based on image-to-point cloud registration, which combines…

Unlike on images, semantic learning on 3D point clouds using a deep network is challenging due to the naturally unordered data structure. Among existing works, PointNet has achieved promising results by directly learning on point sets.…

As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…

Point clouds have become an increasingly important representation for 3D medical imaging, offering a compact, surface-preserving alternative to traditional voxel or mesh-based approaches. Recent advances in deep learning have enabled rapid…

3D scanning is a complex multistage process that generates a point cloud of an object typically containing damaged parts due to occlusions, reflections, shadows, scanner motion, specific properties of the object surface, imperfect…

Point cloud completion is the task of predicting complete geometry from partial observations using a point set representation for a 3D shape. Previous approaches propose neural networks to directly estimate the whole point cloud through…

Exploring contextual information in the local region is important for shape understanding and analysis. Existing studies often employ hand-crafted or explicit ways to encode contextual information of local regions. However, it is hard to…

Deep learning-based point cloud registration models are often generalized from extensive training over a large volume of data to learn the ability to predict the desired geometric transformation to register 3D point clouds. In this paper,…

As two fundamental representation modalities of 3D objects, 3D point clouds and multi-view 2D images record shape information from different domains of geometric structures and visual appearances. In the current deep learning era,…

Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…

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…

Point cloud registration has seen recent success with several learning-based methods that focus on correspondence matching and, as such, optimize only for this objective. Following the learning step of correspondence matching, they evaluate…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

Category-level object pose estimation aims to predict the pose and size of arbitrary objects in specific categories. Existing methods struggle with the inherent incompleteness of observed point clouds, which limits their ability to capture…