相关论文: PIE-NET: Parametric Inference of Point Cloud Edges

We propose a novel method for network inference from partially observed edges using a node-specific degree prior. The degree prior is derived from observed edges in the network to be inferred, and its hyper-parameters are determined by…

Many applications in robotics and human-computer interaction can benefit from understanding 3D motion of points in a dynamic environment, widely noted as scene flow. While most previous methods focus on stereo and RGB-D images as input, few…

We propose Fiber Bundle Networks (FiberNet), a novel machine learning framework integrating differential geometry with machine learning. Unlike traditional deep neural networks relying on black-box function fitting, we reformulate…

Following the advent of immersive technologies and the increasing interest in representing interactive geometrical format, 3D Point Clouds (PC) have emerged as a promising solution and effective means to display 3D visual information. In…

How to learn long-range dependencies from 3D point clouds is a challenging problem in 3D point cloud analysis. Addressing this problem, we propose a global attention network for point cloud semantic segmentation, named as GA-Net, consisting…

Large-scale point cloud generated from 3D sensors is more accurate than its image-based counterpart. However, it is seldom used in visual pose estimation due to the difficulty in obtaining 2D-3D image to point cloud correspondences. In this…

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…

This paper addresses the task of estimating the 6 degrees of freedom pose of a known 3D object from depth information represented by a point cloud. Deep features learned by convolutional neural networks from color information have been the…

This paper proposes a Deep Learning based edge detector, which is inspired on both HED (Holistically-Nested Edge Detection) and Xception networks. The proposed approach generates thin edge-maps that are plausible for human eyes; it can be…

Point clouds have grown in importance in the way computers perceive the world. From LIDAR sensors in autonomous cars and drones to the time of flight and stereo vision systems in our phones, point clouds are everywhere. Despite their…

Modern depth sensors such as LiDAR operate by sweeping laser-beams across the scene, resulting in a point cloud with notable 1D curve-like structures. In this work, we introduce a new point cloud processing scheme and backbone, called…

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…

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…

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…

With the increased availability of 3D scanning technology, point clouds are moving into the focus of computer vision as a rich representation of everyday scenes. However, they are hard to handle for machine learning algorithms due to their…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

At the CERN LHC, the task of jet tagging, whose goal is to infer the origin of a jet given a set of final-state particles, is dominated by machine learning methods. Graph neural networks have been used to address this task by treating jets…

3D point cloud completion is very challenging because it heavily relies on the accurate understanding of the complex 3D shapes (e.g., high-curvature, concave/convex, and hollowed-out 3D shapes) and the unknown & diverse patterns of the…

We present a new point-based approach for modeling the appearance of real scenes. The approach uses a raw point cloud as the geometric representation of a scene, and augments each point with a learnable neural descriptor that encodes local…

We propose LU-Net -- for LiDAR U-Net, a new method for the semantic segmentation of a 3D LiDAR point cloud. Instead of applying some global 3D segmentation method such as PointNet, we propose an end-to-end architecture for LiDAR point cloud…