相关论文: RSKDD-Net: Random Sample-based Keypoint Detector a…

We present SKD, a novel keypoint detector that uses saliency to determine the best candidates from a point cloud for tasks such as registration and reconstruction. The approach can be applied to any differentiable deep learning descriptor…

Sparse keypoint matching based on distinct 3D feature representations can improve the efficiency and robustness of point cloud registration. Existing learning-based 3D descriptors and keypoint detectors are either independent or loosely…

We study the problem of efficient semantic segmentation of large-scale 3D point clouds. By relying on expensive sampling techniques or computationally heavy pre/post-processing steps, most existing approaches are only able to be trained and…

The points on the point clouds that can entirely outline the shape of the model are of critical importance, as they serve as the foundation for numerous point cloud processing tasks and are widely utilized in computer graphics and…

Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In…

Feature Descriptors and Detectors are two main components of feature-based point cloud registration. However, little attention has been drawn to the explicit representation of local and global semantics in the learning of descriptors and…

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…

Since the PointNet was proposed, deep learning on point cloud has been the concentration of intense 3D research. However, existing point-based methods usually are not adequate to extract the local features and the spatial pattern of a point…

Interest point detection and local feature description are fundamental steps in many computer vision applications. Classical methods for these tasks are based on a detect-then-describe paradigm where separate handcrafted methods are used to…

Point cloud registration is an important task in robotics and autonomous driving to estimate the ego-motion of the vehicle. Recent advances following the coarse-to-fine manner show promising potential in point cloud registration. However,…

We study the problem of efficient semantic segmentation for large-scale 3D point clouds. By relying on expensive sampling techniques or computationally heavy pre/post-processing steps, most existing approaches are only able to be trained…

This paper presents a novel randomized algorithm for robust point cloud registration without correspondences. Most existing registration approaches require a set of putative correspondences obtained by extracting invariant descriptors.…

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the…

Understanding point clouds is of great importance. Many previous methods focus on detecting salient keypoints to identity structures of point clouds. However, existing methods neglect the semantics of points selected, leading to poor…

Point cloud sampling plays a crucial role in reducing computation costs and storage requirements for various vision tasks. Traditional sampling methods, such as farthest point sampling, lack task-specific information and, as a result,…

An effective 3D descriptor should be invariant to different geometric transformations, such as scale and rotation, robust to occlusions and clutter, and capable of generalising to different application domains. We present a simple yet…

The classification of 3D point clouds is crucial for applications such as autonomous driving, robotics, and augmented reality. However, the commonly used ModelNet40 dataset suffers from limitations such as inconsistent labeling, 2D data,…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

High-resolution 3D point clouds are highly effective for detecting subtle structural anomalies in industrial inspection. However, their dense and irregular nature imposes significant challenges, including high computational cost,…

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…