相关论文: A Robust and Reliable Point Cloud Recognition Netw…

In recent years, point cloud analysis methods based on the Transformer architecture have made significant progress, particularly in the context of multimedia applications such as 3D modeling, virtual reality, and autonomous systems.…

Recently, many deep neural networks were designed to process 3D point clouds, but a common drawback is that rotation invariance is not ensured, leading to poor generalization to arbitrary orientations. In this paper, we introduce a new…

LiDAR-based 3D single object tracking is a challenging issue in robotics and autonomous driving. Currently, existing approaches usually suffer from the problem that objects at long distance often have very sparse or partially-occluded point…

In recent years, the task of learned point cloud compression has gained prominence. An important type of point cloud, the spinning LiDAR point cloud, is generated by spinning LiDAR on vehicles. This process results in numerous circular…

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…

We present a novel rotation invariant architecture operating directly on point cloud data. We demonstrate how rotation invariance can be injected into a recently proposed point-based PCNN architecture, at all layers of the network,…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

Test-Time Training (TTT) has emerged as a promising solution to address distribution shifts in 3D point cloud classification. However, existing methods often rely on computationally expensive backpropagation during adaptation, limiting…

Robust 3D perception under corruption has become an essential task for the realm of 3D vision. While current data augmentation techniques usually perform random transformations on all point cloud objects in an offline way and ignore the…

Following the tremendous success of transformer in natural language processing and image understanding tasks, in this paper, we present a novel point cloud representation learning architecture, named Dual Transformer Network (DTNet), which…

3D single object tracking is a key issue for robotics. In this paper, we propose a transformer module called Point-Track-Transformer (PTT) for point cloud-based 3D single object tracking. PTT module contains three blocks for feature…

We propose a local-to-global representation learning algorithm for 3D point cloud data, which is appropriate to handle various geometric transformations, especially rotation, without explicit data augmentation with respect to the…

The commonly adopted detect-then-match approach to registration finds difficulties in the cross-modality cases due to the incompatible keypoint detection and inconsistent feature description. We propose, 2D3D-MATR, a detection-free method…

This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i.e. rotation matrix and translation vector) between two pointcloud dataset. The method improves the robustness of point…

Point clouds captured in real-world applications are often incomplete due to the limited sensor resolution, single viewpoint, and occlusion. Therefore, recovering the complete point clouds from partial ones becomes an indispensable task in…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

Recently Transformer-based models have advanced point cloud understanding by leveraging self-attention mechanisms, however, these methods often overlook latent information in less prominent regions, leading to increased sensitivity to…

Feature descriptors of point clouds are used in several applications, such as registration and part segmentation of 3D point clouds. Learning discriminative representations of local geometric features is unquestionably the most important…

Point cloud sequences are irregular and unordered in the spatial dimension while exhibiting regularities and order in the temporal dimension. Therefore, existing grid based convolutions for conventional video processing cannot be directly…

Learning to predict reliable characteristic orientations of 3D point clouds is an important yet challenging problem, as different point clouds of the same class may have largely varying appearances. In this work, we introduce a novel method…