相关论文: Learning to Orient Surfaces by Self-supervised Sph…

We address semantic segmentation on omnidirectional images, to leverage a holistic understanding of the surrounding scene for applications like autonomous driving systems. For the spherical domain, several methods recently adopt an…

Image orientation detection requires high-level scene understanding. Humans use object recognition and contextual scene information to correctly orient images. In literature, the problem of image orientation detection is mostly confronted…

Extending the translation equivariance property of convolutional neural networks to larger symmetry groups has been shown to reduce sample complexity and enable more discriminative feature learning. Further, exploiting additional symmetries…

A symmetry on rigid motion is one of the salient factors in efficient learning of 3D point cloud problems. Group convolution has been a representative method to extract equivariant features, but its realizations have struggled to retain…

Local and global patterns of an object are closely related. Although each part of an object is incomplete, the underlying attributes about the object are shared among all parts, which makes reasoning the whole object from a single part…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

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…

We propose a canonical point autoencoder (CPAE) that predicts dense correspondences between 3D shapes of the same category. The autoencoder performs two key functions: (a) encoding an arbitrarily ordered point cloud to a canonical…

Recent investigations on rotation invariance for 3D point clouds have been devoted to devising rotation-invariant feature descriptors or learning canonical spaces where objects are semantically aligned. Examinations of learning frameworks…

Point clouds are the native output of many real-world 3D sensors. To borrow the success of 2D convolutional network architectures, a majority of popular 3D perception models voxelize the points, which can result in a loss of local geometric…

Convolutional Neural Networks (CNNs) have performed extremely well on data represented by regularly arranged grids such as images. However, directly leveraging the classic convolution kernels or parameter sharing mechanisms on sparse 3D…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…

Self-supervised learning has emerged as a promising approach for acquiring transferable 3D representations from unlabeled 3D point clouds. Unlike 2D images, which are widely accessible, acquiring 3D assets requires specialized expertise or…

Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…

M\"obius transformations play an important role in both geometry and spherical image processing - they are the group of conformal automorphisms of 2D surfaces and the spherical equivalent of homographies. Here we present a novel,…

Point clouds provide a flexible geometric representation suitable for countless applications in computer graphics; they also comprise the raw output of most 3D data acquisition devices. While hand-designed features on point clouds have long…

This work proposes a general-purpose, fully-convolutional network architecture for efficiently processing large-scale 3D data. One striking characteristic of our approach is its ability to process unorganized 3D representations such as…

Convolutional neural networks (CNNs) allow for parameter sharing and translational equivariance by using convolutional kernels in their linear layers. By restricting these kernels to be SO(3)-steerable, CNNs can further improve parameter…

Many computer vision challenges require continuous outputs, but tend to be solved by discrete classification. The reason is classification's natural containment within a probability $n$-simplex, as defined by the popular softmax activation…

In this paper, we introduce a new method for classifying 3D objects. Our main idea is to project a 3D object onto a spherical domain centered around its barycenter and develop neural network to classify the spherical projection. We…