相关论文: SpinNet: Learning a General Surface Descriptor for…

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…

Feature descriptors of point clouds are used in several applications, such as registration and part segmentation of 3D point clouds. Learning discriminative representations of local geometric features is unquestionably the most important…

Point cloud registration is to estimate a transformation to align point clouds collected in different perspectives. In learning-based point cloud registration, a robust descriptor is vital for high-accuracy registration. However, most…

Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…

Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…

We propose a local-to-global representation learning algorithm for 3D point cloud data, which is appropriate to handle various geometric transformations, especially rotation, without explicit data augmentation with respect to the…

Deep neural networks have established themselves as the state-of-the-art methodology in almost all computer vision tasks to date. But their application to processing data lying on non-Euclidean domains is still a very active area of…

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…

Point clouds, being the simple and compact representation of surface geometry of 3D objects, have gained increasing popularity with the evolution of deep learning networks for classification and segmentation tasks. Unlike human, teaching…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

We present PPFNet - Point Pair Feature NETwork for deeply learning a globally informed 3D local feature descriptor to find correspondences in unorganized point clouds. PPFNet learns local descriptors on pure geometry and is highly aware of…

We present PPF-FoldNet for unsupervised learning of 3D local descriptors on pure point cloud geometry. Based on the folding-based auto-encoding of well known point pair features, PPF-FoldNet offers many desirable properties: it necessitates…

The paper presents a learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Existing methods, such as PointNetVLAD, are based on unordered point cloud representation. They use PointNet…

Common deep learning models for 3D environment perception often use pillarization/voxelization methods to convert point cloud data into pillars/voxels and then process it with a 2D/3D convolutional neural network (CNN). The pioneer work…

Point cloud segmentation is one of the most important tasks in computer vision with widespread scientific, industrial, and commercial applications. The research thereof has resulted in many breakthroughs in 3D object and scene…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…

3D anomaly detection in point-cloud data is critical for industrial quality control, aiming to identify structural defects with high reliability. However, current memory bank-based methods often suffer from inconsistent feature…

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…

Learning local descriptors is an important problem in computer vision. While there are many techniques for learning local patch descriptors for 2D images, recently efforts have been made for learning local descriptors for 3D points. The…