相关论文: A Rotation-Invariant Framework for Deep Point Clou…

Adversary and invisibility are two fundamental but conflict characters of adversarial perturbations. Previous adversarial attacks on 3D point cloud recognition have often been criticized for their noticeable point outliers, since they just…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

We present a new permutation-invariant network for 3D point cloud processing. Our network is composed of a recurrent set encoder and a convolutional feature aggregator. Given an unordered point set, the encoder firstly partitions its…

Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…

Over the last decade, the demand for better segmentation and classification algorithms in 3D spaces has significantly grown due to the popularity of new 3D sensor technologies and advancements in the field of robotics. Point-clouds are one…

Deep convolutional neural networks accuracy is heavily impacted by rotations of the input data. In this paper, we propose a convolutional predictor that is invariant to rotations in the input. This architecture is capable of predicting the…

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…

We address the problem of 3D rotation equivariance in convolutional neural networks. 3D rotations have been a challenging nuisance in 3D classification tasks requiring higher capacity and extended data augmentation in order to tackle it. We…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

Point clouds are a basic data type that is increasingly of interest as 3D content becomes more ubiquitous. Applications using point clouds include virtual, augmented, and mixed reality and autonomous driving. We propose a more efficient…

In this paper, we revisit the classical representation of 3D point clouds as linear shape models. Our key insight is to leverage deep learning to represent a collection of shapes as affine transformations of low-dimensional linear shape…

Point cloud is a principal data structure adopted for 3D geometric information encoding. Unlike other conventional visual data, such as images and videos, these irregular points describe the complex shape features of 3D objects, which makes…

Automatic synthesis of high quality 3D shapes is an ongoing and challenging area of research. While several data-driven methods have been proposed that make use of neural networks to generate 3D shapes, none of them reach the level of…

Equivariance has been a long-standing concern in various fields ranging from computer vision to physical modeling. Most previous methods struggle with generality, simplicity, and expressiveness -- some are designed ad hoc for specific data…

Modern image encoders achieve high generalization by decoupling semantic meaning from resolution, an ability yet to be fully realized in the 3D domain. We investigate the failure of 3D point cloud encoders to achieve similar generalization…

An effective 3D descriptor should be invariant to different geometric transformations, such as scale and rotation, robust to occlusions and clutter, and capable of generalising to different application domains. We present a simple yet…

Point cloud analysis without pose priors is very challenging in real applications, as the orientations of point clouds are often unknown. In this paper, we propose a brand new point-set learning framework PRIN, namely, Point-wise Rotation…

We present an approach to semantic scene analysis using deep convolutional networks. Our approach is based on tangent convolutions - a new construction for convolutional networks on 3D data. In contrast to volumetric approaches, our method…

Recent interest in point cloud analysis has led rapid progress in designing deep learning methods for 3D models. However, state-of-the-art models are not robust to rotations, which remains an unknown prior to real applications and harms the…