相关论文: SALA: Soft Assignment Local Aggregation for Parame…

3D point cloud segmentation faces practical challenges due to the computational complexity and deployment limitations of large-scale transformer-based models. To address this, we propose a novel Structure- and Relation-aware Knowledge…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

Deep learning approaches have made tremendous progress in the field of semantic segmentation over the past few years. However, most current approaches operate in the 2D image space. Direct semantic segmentation of unstructured 3D point…

This paper introduces a new hybrid descriptor for 3D point matching and point cloud registration, combining local geometrical properties and learning-based feature propagation for each point's neighborhood structure description. The…

In this paper, we propose a similarity-aware fusion network (SAFNet) to adaptively fuse 2D images and 3D point clouds for 3D semantic segmentation. Existing fusion-based methods achieve remarkable performances by integrating information…

Due to the significant increase in the size of spatial data, it is essential to use distributed parallel processing systems to efficiently analyze spatial data. In this paper, we first study learned spatial data partitioning, which…

Graph clustering is an essential aspect of network analysis that involves grouping nodes into separate clusters. Recent developments in deep learning have resulted in graph clustering, which has proven effective in many applications.…

Acquired 3D point cloud data, whether from active sensors directly or from stereo-matching algorithms indirectly, typically contain non-negligible noise. To address the point cloud denoising problem, we propose a fast graph-based local…

We present a self-supervised task on point clouds, in order to learn meaningful point-wise features that encode local structure around each point. Our self-supervised network, named MortonNet, operates directly on unstructured/unordered…

We propose spatial semantic embedding network (SSEN), a simple, yet efficient algorithm for 3D instance segmentation using deep metric learning. The raw 3D reconstruction of an indoor environment suffers from occlusions, noise, and is…

This paper proposes a Graph Neural Network(GNN)-based method for exploiting semantics and local geometry to guide the identification of reliable pointcloud registration candidates. Semantic and morphological features of the environment…

We propose a novel approach aimed at object and semantic scene completion from a partial scan represented as a 3D point cloud. Our architecture relies on three novel layers that are used successively within an encoder-decoder structure and…

While Transformer architecture excel at modeling long-range dependencies contributing to its widespread adoption in vision tasks the quadratic complexity of softmax-based attention mechanisms imposes a major bottleneck, particularly when…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

Point clouds are a key modality used for perception in autonomous vehicles, providing the means for a robust geometric understanding of the surrounding environment. However despite the sensor outputs from autonomous vehicles being naturally…

Existing state-of-the-art 3D instance segmentation methods perform semantic segmentation followed by grouping. The hard predictions are made when performing semantic segmentation such that each point is associated with a single class.…

Scene graphs have been recently introduced into 3D spatial understanding as a comprehensive representation of the scene. The alignment between 3D scene graphs is the first step of many downstream tasks such as scene graph aided point cloud…

Deep neural networks are typically trained in a single shot for a specific task and data distribution, but in real world settings both the task and the domain of application can change. The problem becomes even more challenging in dense…

In this paper, we question whether we have a reliable self-supervised point cloud model that can be used for diverse 3D tasks via simple linear probing, even with limited data and minimal computation. We find that existing 3D…

This paper presents a novel non-local part-aware deep neural network to denoise point clouds by exploring the inherent non-local self-similarity in 3D objects and scenes. Different from existing works that explore small local patches, we…