相关论文: JSNet: Joint Instance and Semantic Segmentation of…

3D semantic scene completion and 2D semantic segmentation are two tightly correlated tasks that are both essential for indoor scene understanding, because they predict the same semantic classes, using positively correlated high-level…

Current multi-object tracking and segmentation (MOTS) methods follow the tracking-by-detection paradigm and adopt convolutions for feature extraction. However, as affected by the inherent receptive field, convolution based feature…

We propose a new supervized learning framework for oversegmenting 3D point clouds into superpoints. We cast this problem as learning deep embeddings of the local geometry and radiometry of 3D points, such that the border of objects presents…

Semantic scene completion (SSC) aims to complete a partial 3D scene and predict its semantics simultaneously. Most existing works adopt the voxel representations, thus suffering from the growth of memory and computation cost as the voxel…

This paper studies the 3D instance segmentation problem, which has a variety of real-world applications such as robotics and augmented reality. Since the surroundings of 3D objects are of high complexity, the separating of different objects…

This paper addresses the challenge of 3D instance segmentation by simultaneously leveraging 3D geometric and multi-view image information. Many previous works have applied deep learning techniques to 3D point clouds for instance…

Multi-scale features are essential for dense prediction tasks, such as object detection, instance segmentation, and semantic segmentation. The prevailing methods usually utilize a classification backbone to extract multi-scale features and…

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…

3D shape recognition has attracted more and more attention as a task of 3D vision research. The proliferation of 3D data encourages various deep learning methods based on 3D data. Now there have been many deep learning models based on…

We present PartNet: a consistent, large-scale dataset of 3D objects annotated with fine-grained, instance-level, and hierarchical 3D part information. Our dataset consists of 573,585 part instances over 26,671 3D models covering 24 object…

Despite significant progress in 3D point cloud segmentation, existing methods primarily address specific tasks and depend on explicit instructions to identify targets, lacking the capability to infer and understand implicit user intentions…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

In this paper we propose a new framework for point cloud instance segmentation. Our framework has two steps: an embedding step and a clustering step. In the embedding step, our main contribution is to propose a probabilistic embedding space…

An efficient solution to semantic segmentation of large-scale indoor scene point clouds is proposed in this work. It is named GSIP (Green Segmentation of Indoor Point clouds) and its performance is evaluated on a representative large-scale…

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.…

In contrast to the literature where local patterns in 3D point clouds are captured by customized convolutional operators, in this paper we study the problem of how to effectively and efficiently project such point clouds into a 2D image…

Previous top-performing approaches for point cloud instance segmentation involve a bottom-up strategy, which often includes inefficient operations or complex pipelines, such as grouping over-segmented components, introducing additional…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…