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

Existing learning-based surface reconstruction methods from point clouds are still facing challenges in terms of scalability and preservation of details on large-scale point clouds. In this paper, we propose the SSRNet, a novel scalable…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…

Existing learning-based point feature descriptors are usually task-agnostic, which pursue describing the individual 3D point clouds as accurate as possible. However, the matching task aims at describing the corresponding points consistently…

Keypoint detection is a pivotal step in 3D reconstruction, whereby sets of (up to) K points are detected in each view of a scene. Crucially, the detected points need to be consistent between views, i.e., correspond to the same 3D point in…

Current Point-based detectors can only learn from the provided points, with limited receptive fields and insufficient global learning capabilities for such targets. In this paper, we present a novel Point Dilation Mechanism for single-stage…

A super point is a host that interacts with a far larger number of counterparts in the network over a period of time. Super point detection plays an important role in network research and application. With the increase of network scale,…

Object retrieval and classification in point cloud data is challenged by noise, irregular sampling density and occlusion. To address this issue, we propose a point pair descriptor that is robust to noise and occlusion and achieves high…

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…

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

Recently, deep learning has significantly advanced the performance of point cloud geometry compression. However, the learning-based lossless attribute compression of point clouds with varying densities is under-explored. In this paper, we…

Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimation drift. However, achieving real-time performance remains…

Researchers have attempted utilizing deep neural network (DNN) to learn novel local features from images inspired by its recent successes on a variety of vision tasks. However, existing DNN-based algorithms have not achieved such remarkable…

In this paper, we present a novel approach that exploits the information within the descriptor space to propose keypoint locations. Detect then describe, or detect and describe jointly are two typical strategies for extracting local…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

This paper simultaneously addresses three limitations associated with conventional skeleton-based action recognition; skeleton detection and tracking errors, poor variety of the targeted actions, as well as person-wise and frame-wise action…

We propose RPSRNet - a novel end-to-end trainable deep neural network for rigid point set registration. For this task, we use a novel $2^D$-tree representation for the input point sets and a hierarchical deep feature embedding in the neural…

We present a novel non-iterative learnable method for partial-to-partial 3D shape registration. The partial alignment task is extremely complex, as it jointly tries to match between points and identify which points do not appear in the…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Place recognition plays an essential role in the field of autonomous driving and robot navigation. Point cloud based methods mainly focus on extracting global descriptors from local features of point clouds. Despite having achieved…