相关论文: Point Cloud Resampling Through Hypergraph Signal P…

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…

Recent years have witnessed the surge of learned representations that directly build upon point clouds. Though becoming increasingly expressive, most existing representations still struggle to generate ordered point sets. Inspired by…

For current object detectors, the scale of the receptive field of feature extraction operators usually increases layer by layer. Those operators are called scale-oriented operators in this paper, such as the convolution layer in CNN, and…

Point clouds obtained from 3D scans are typically sparse, irregular, and noisy, and required to be consolidated. In this paper, we present the first deep learning based edge-aware technique to facilitate the consolidation of point clouds.…

3D Gaussian Splatting (3DGS) excels at producing highly detailed 3D reconstructions, but these scenes often require specialised renderers for effective visualisation. In contrast, point clouds are a widely used 3D representation and are…

Cloud-edge collaboration enhances machine perception by combining the strengths of edge and cloud computing. Edge devices capture raw data (e.g., 3D point clouds) and extract salient features, which are sent to the cloud for deeper analysis…

We present an improved version of PointRCNN for 3D object detection, in which a multi-branch backbone network is adopted to handle the non-uniform density of point clouds. An uncertainty-based sampling policy is proposed to deal with the…

3D motion estimation including scene flow and point cloud registration has drawn increasing interest. Inspired by 2D flow estimation, recent methods employ deep neural networks to construct the cost volume for estimating accurate 3D flow.…

This paper studies point cloud perception within outdoor environments. Existing methods face limitations in recognizing objects located at a distance or occluded, due to the sparse nature of outdoor point clouds. In this work, we observe a…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

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…

Point cloud reconstruction from raw point cloud has been an important topic in computer graphics for decades, especially due to its high demand in modeling and rendering applications. An important way to solve this problem is establishing a…

Point clouds obtained from capture devices or 3D reconstruction techniques are often noisy and interfere with downstream tasks. The paper aims to recover the underlying surface of noisy point clouds. We design a novel model, NoiseTrans,…

3D point cloud registration is a fundamental problem in computer vision and robotics. Recently, learning-based point cloud registration methods have made great progress. However, these methods are sensitive to outliers, which lead to more…

This paper proposes EyeNet, a novel semantic segmentation network for point clouds that addresses the critical yet often overlooked parameter of coverage area size. Inspired by human peripheral vision, EyeNet overcomes the limitations of…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

Point clouds acquired from 3D sensors are usually sparse and noisy. Point cloud upsampling is an approach to increase the density of the point cloud so that detailed geometric information can be restored. In this paper, we propose a Dual…

LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…

In this paper, we present a novel proxy-based method of the adaptive haptic rendering of a variable density 3D point cloud data at different levels of detail without pre-computing the mesh structure. We also incorporate features like…

Noisy 3D point clouds arise in many applications. They may be due to errors when constructing a 3D model from images or simply to imprecise depth sensors. Point clouds can be given geometrical structure using graphs created from the…