相关论文: Dense-Resolution Network for Point Cloud Classific…

Point cloud segmentation and classification are some of the primary tasks in 3D computer vision with applications ranging from augmented reality to robotics. However, processing point clouds using deep learning-based algorithms is quite…

Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…

Representation learning from 3D point clouds is challenging due to their inherent nature of permutation invariance and irregular distribution in space. Existing deep learning methods follow a hierarchical feature extraction paradigm in…

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…

The performance of 3D object detection models over point clouds highly depends on their capability of modeling local geometric patterns. Conventional point-based models exploit local patterns through a symmetric function (e.g. max pooling)…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

We present an improved version of PointRCNN for 3D object detection, in which a multi-branch backbone network is adopted to handle the non-uniform density of point clouds. An uncertainty-based sampling policy is proposed to deal with the…

Surface-based geodesic topology provides strong cues for object semantic analysis and geometric modeling. However, such connectivity information is lost in point clouds. Thus we introduce GeoNet, the first deep learning architecture trained…

The task of point cloud upsampling aims to acquire dense and uniform point sets from sparse and irregular point sets. Although significant progress has been made with deep learning models, state-of-the-art methods require ground-truth dense…

In recent years, Convolutional Neural Networks (CNN) have proven to be efficient analysis tools for processing point clouds, e.g., for reconstruction, segmentation and classification. In this paper, we focus on the classification of edges…

In this paper, we present a comprehensive point cloud semantic segmentation network that aggregates both local and global multi-scale information. First, we propose an Angle Correlation Point Convolution (ACPConv) module to effectively…

Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…

3D point cloud segmentation has a wide range of applications in areas such as autonomous driving, augmented reality, virtual reality and digital twins. The point cloud data collected in real scenes often contain small objects and categories…

Point cloud registration is an important task in robotics and autonomous driving to estimate the ego-motion of the vehicle. Recent advances following the coarse-to-fine manner show promising potential in point cloud registration. However,…

Technology to recognize the type of component represented by a point cloud is required in the reconstruction process of an as-built model of a process plant based on laser scanning. The reconstruction process of a process plant through…

In order to retain more feature information of local areas on a point cloud, local grouping and subsampling are the necessary data structuring steps in most hierarchical deep learning models. Due to the disorder nature of the points in a…

For current object detectors, the scale of the receptive field of feature extraction operators usually increases layer by layer. Those operators are called scale-oriented operators in this paper, such as the convolution layer in CNN, and…

Point clouds, being the simple and compact representation of surface geometry of 3D objects, have gained increasing popularity with the evolution of deep learning networks for classification and segmentation tasks. Unlike human, teaching…

Point clouds obtained with 3D scanners or by image-based reconstruction techniques are often corrupted with significant amount of noise and outliers. Traditional methods for point cloud denoising largely rely on local surface fitting (e.g.,…

Accurate 3D geometry acquisition is essential for a wide range of applications, such as computer graphics, autonomous driving, robotics, and augmented reality. However, raw point clouds acquired in real-world environments are often…