相关论文: PointMask: Towards Interpretable and Bias-Resilien…

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…

Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…

The recent surge in 3D data acquisition has spurred the development of geometric deep learning models for point cloud processing, boosted by the remarkable success of transformers in natural language processing. While point cloud…

Semantic segmentation of point cloud usually relies on dense annotation that is exhausting and costly, so it attracts wide attention to investigate solutions for the weakly supervised scheme with only sparse points annotated. Existing works…

Generative diffusion models have shown empirical successes in point cloud resampling, generating a denser and more uniform distribution of points from sparse or noisy 3D point clouds by progressively refining noise into structure. However,…

Point clouds upsampling is a challenging issue to generate dense and uniform point clouds from the given sparse input. Most existing methods either take the end-to-end supervised learning based manner, where large amounts of pairs of sparse…

We present Points2Plans, a framework for composable planning with a relational dynamics model that enables robots to solve long-horizon manipulation tasks from partial-view point clouds. Given a language instruction and a point cloud of the…

Deep learning algorithms have recently gained significant attention due to their impressive performance. However, their high complexity and un-interpretable mode of operation hinders their confident deployment in real-world safety-critical…

We propose an approach to instance segmentation from 3D point clouds based on dynamic convolution. This enables it to adapt, at inference, to varying feature and object scales. Doing so avoids some pitfalls of bottom up approaches,…

Point cloud upsampling is crucial for tasks like 3D reconstruction. While existing methods rely on patch-based inputs, and there is no research discussing the differences and principles between point cloud model full input and patch based…

This paper addresses the problem of generating dense point clouds from given sparse point clouds to model the underlying geometric structures of objects/scenes. To tackle this challenging issue, we propose a novel end-to-end learning-based…

Domain Generalization (DG) has been recently explored to improve the generalizability of point cloud classification (PCC) models toward unseen domains. However, they often suffer from limited receptive fields or quadratic complexity due to…

In this paper, we propose a novel variable rate deep compression architecture that operates on raw 3D point cloud data. The majority of learning-based point cloud compression methods work on a downsampled representation of the data.…

Convolutional Neural Networks have achieved impressive results in various tasks, but interpreting the internal mechanism is a challenging problem. To tackle this problem, we exploit a multi-channel attention mechanism in feature space. Our…

Point cloud synthesis, i.e. the generation of novel point clouds from an input distribution, remains a challenging task, for which numerous complex machine learning models have been devised. We develop a novel method that encodes…

Point clouds are extensively employed in a variety of real-world applications such as robotics, autonomous driving and augmented reality. Despite the recent success of point cloud neural networks, especially for safety-critical tasks, it is…

Coarse-to-fine 3D instance segmentation methods show weak performances compared to recent Grouping-based, Kernel-based and Transformer-based methods. We argue that this is due to two limitations: 1) Instance size overestimation by…

The growing size of point clouds enlarges consumptions of storage, transmission, and computation of 3D scenes. Raw data is redundant, noisy, and non-uniform. Therefore, simplifying point clouds for achieving compact, clean, and uniform…

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…

The application of deep learning to 3D point clouds is challenging due to its lack of order. Inspired by the point embeddings of PointNet and the edge embeddings of DGCNNs, we propose three improvements to the task of point cloud analysis.…