相关论文: MaskNet: A Fully-Convolutional Network to Estimate…

Point cloud processing is very challenging, as the diverse shapes formed by irregular points are often indistinguishable. A thorough grasp of the elusive shape requires sufficiently contextual semantic information, yet few works devote to…

Point cloud completion concerns to predict missing part for incomplete 3D shapes. A common strategy is to generate complete shape according to incomplete input. However, unordered nature of point clouds will degrade generation of…

Point cloud segmentation (PCS) is to classify each point in point clouds. The task enables robots to parse their 3D surroundings and run autonomously. According to different point cloud representations, existing PCS models can be roughly…

While several convolution-like operators have recently been proposed for extracting features out of point clouds, down-sampling an unordered point cloud in a deep neural network has not been rigorously studied. Existing methods down-sample…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

In this paper we propose a rotation-invariant deep network for point clouds analysis. Point-based deep networks are commonly designed to recognize roughly aligned 3D shapes based on point coordinates, but suffer from performance drops with…

The universality of the point cloud format enables many 3D applications, making the compression of point clouds a critical phase in practice. Sampled as discrete 3D points, a point cloud approximates 2D surface(s) embedded in 3D with a…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

Point cloud completion aims to recover raw point clouds captured by scanners from partial observations caused by occlusion and limited view angles. This makes it hard to recover details because the global feature is unlikely to capture the…

Point clouds are often sparse and incomplete. Existing shape completion methods are incapable of generating details of objects or learning the complex point distributions. To this end, we propose a cascaded refinement network together with…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

With the rapid progress of deep convolutional neural networks, in almost all robotic applications, the availability of 3D point clouds improves the accuracy of 3D semantic segmentation methods. Rendering of these irregular, unstructured,…

We present Point-BERT, a new paradigm for learning Transformers to generalize the concept of BERT to 3D point cloud. Inspired by BERT, we devise a Masked Point Modeling (MPM) task to pre-train point cloud Transformers. Specifically, we…

In recent years, deep learning-based point cloud normal estimation has made great progress. However, existing methods mainly rely on the PCPNet dataset, leading to overfitting. In addition, the correlation between point clouds with…

Normal estimation on 3D point clouds is a fundamental problem in 3D vision and graphics. Current methods often show limited accuracy in predicting normals at sharp features (e.g., edges and corners) and less robustness to noise. In this…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

We propose a novel normal estimation method called HSurf-Net, which can accurately predict normals from point clouds with noise and density variations. Previous methods focus on learning point weights to fit neighborhoods into a geometric…

Deep neural networks are known to be vulnerable to adversarial examples which are carefully crafted instances to cause the models to make wrong predictions. While adversarial examples for 2D images and CNNs have been extensively studied,…

Identifying changes in a pair of 3D aerial LiDAR point clouds, obtained during two distinct time periods over the same geographic region presents a significant challenge due to the disparities in spatial coverage and the presence of noise…

In the field of autonomous driving and robotics, point clouds are showing their excellent real-time performance as raw data from most of the mainstream 3D sensors. Therefore, point cloud neural networks have become a popular research…