相关论文: KAPLAN: A 3D Point Descriptor for Shape Completion

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…

Dense 3D convolutions provide high accuracy for perception but are too computationally expensive for real-time robotic systems. Existing tri-plane methods rely on 2D image features with interpolation, point-wise queries, and implicit MLPs,…

Representing complex 3D objects as simple geometric primitives, known as shape abstraction, is important for geometric modeling, structural analysis, and shape synthesis. In this paper, we propose an unsupervised shape abstraction method to…

Point cloud completion aims at completing geometric and topological shapes from a partial observation. However, some topology of the original shape is missing, existing methods directly predict the location of complete points, without…

Point cloud completion aims to recover partial geometric and topological shapes caused by equipment defects or limited viewpoints. Current methods either solely rely on the 3D coordinates of the point cloud to complete it or incorporate…

Learning-based 3D reconstruction using implicit neural representations has shown promising progress not only at the object level but also in more complicated scenes. In this paper, we propose Dynamic Plane Convolutional Occupancy Networks,…

3D object detection using point clouds has attracted increasing attention due to its wide applications in autonomous driving and robotics. However, most existing studies focus on single point cloud frames without harnessing the temporal…

We propose a precise and efficient normal estimation method that can deal with noise and nonuniform density for unstructured 3D point clouds. Unlike existing approaches that directly take patches and ignore the local neighborhood…

Analyzing the geometric and semantic properties of 3D point clouds through the deep networks is still challenging due to the irregularity and sparsity of samplings of their geometric structures. This paper presents a new method to define…

A laser scanner can easily acquire the geometric data of physical environments in the form of a point cloud. Recognizing objects from a point cloud is often required for industrial 3D reconstruction, which should include not only geometry…

This work provides an architecture to enable robotic grasp planning via shape completion. Shape completion is accomplished through the use of a 3D convolutional neural network (CNN). The network is trained on our own new open source dataset…

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.…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

3D shapes captured by scanning devices are often incomplete due to occlusion. 3D shape completion methods have been explored to tackle this limitation. However, most of these methods are only trained and tested on a subset of categories,…

Deep learning on point clouds has made a lot of progress recently. Many point cloud dedicated deep learning frameworks, such as PointNet and PointNet++, have shown advantages in accuracy and speed comparing to those using traditional 3D…

Point cloud completion aims to reconstruct complete 3D shapes from partial 3D point clouds. With advancements in deep learning techniques, various methods for point cloud completion have been developed. Despite achieving encouraging…

LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…

Deep neural networks have achieved significant success in 3D point cloud classification while relying on large-scale, annotated point cloud datasets, which are labor-intensive to build. Compared to capturing data with LiDAR sensors and then…

We present a simple yet effective general-purpose framework for modeling 3D shapes by leveraging recent advances in 2D image generation using CNNs. Using just a single depth image of the object, we can output a dense multi-view depth map…

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…