相关论文: Skeleton-bridged Point Completion: From Global Inf…

In this paper, we present a novel unpaired point cloud completion network, named Cycle4Completion, to infer the complete geometries from a partial 3D object. Previous unpaired completion methods merely focus on the learning of geometric…

Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…

Shape completion, i.e., predicting the complete geometry of an object from a partial observation, is highly relevant for several downstream tasks, most notably robotic manipulation. When basing planning or prediction of real grasps on…

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…

Point clouds are a set of data points in space to represent the 3D geometry of objects. A fundamental step in the processing is to identify a subset of points to represent the shape. While traditional sampling methods often ignore to…

This paper presents a view-guided solution for the task of point cloud completion. Unlike most existing methods directly inferring the missing points using shape priors, we address this task by introducing ViPC (view-guided point cloud…

3D point cloud completion, the task of inferring the complete geometric shape from a partial point cloud, has been attracting attention in the community. For acquiring high-fidelity dense point clouds and avoiding uneven distribution,…

Currently, robotic grasping methods based on sparse partial point clouds have attained a great grasping performance on various objects while they often generate wrong grasping candidates due to the lack of geometric information on the…

3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and…

In this paper, we propose a novel network, SVDFormer, to tackle two specific challenges in point cloud completion: understanding faithful global shapes from incomplete point clouds and generating high-accuracy local structures. Current…

Point cloud completion is a generation and estimation issue derived from the partial point clouds, which plays a vital role in the applications in 3D computer vision. The progress of deep learning (DL) has impressively improved the…

In many vision and robotics applications, it is common that the captured objects are represented by very few points. Most of the existing completion methods are designed for partial point clouds with many points, and they perform poorly or…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

While previous studies have demonstrated successful 3D object shape completion with a sufficient number of points, they often fail in scenarios when a few points, e.g. tens of points, are observed. Surprisingly, via entropy analysis, we…

Point cloud completion aims to recover missing geometric structures from incomplete 3D scans, which often suffer from occlusions or limited sensor viewpoints. Existing methods typically assume fixed input/output densities or rely on…

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…

This paper focuses on the recently popular task of point cloud completion guided by multimodal information. Although existing methods have achieved excellent performance by fusing auxiliary images, there are still some deficiencies,…

In this paper, we introduce a novel approach that harnesses both 2D and 3D attentions to enable highly accurate depth completion without requiring iterative spatial propagations. Specifically, we first enhance a baseline convolutional depth…

We present a novel neural implicit shape method for partial point cloud completion. To that end, we combine a conditional Deep-SDF architecture with learned, adversarial shape priors. More specifically, our network converts partial inputs…

In real-world scenarios, scanned point clouds are often incomplete due to occlusion issues. The tasks of self-supervised and weakly-supervised point cloud completion involve reconstructing missing regions of these incomplete objects without…