相关论文: Equivariant Point Network for 3D Point Cloud Analy…

Unsupervised non-rigid point cloud shape correspondence underpins a multitude of 3D vision tasks, yet itself is non-trivial given the exponential complexity stemming from inter-point degree-of-freedom, i.e., pose transformations. Based on…

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…

Current methodologies in point cloud analysis predominantly explore 3D geometries, often achieved through the introduction of intricate learnable geometric extractors in the encoder or by deepening networks with repeated blocks. However,…

We address the problem of fitting a parametric human body model (SMPL) to point cloud data. Optimization-based methods require careful initialization and are prone to becoming trapped in local optima. Learning-based methods address this but…

The vulnerability of 3D point cloud analysis to unpredictable rotations poses an open yet challenging problem: orientation-aware 3D domain generalization. Cross-domain robustness and adaptability of 3D representations are crucial but not…

3D shape recognition has attracted more and more attention as a task of 3D vision research. The proliferation of 3D data encourages various deep learning methods based on 3D data. Now there have been many deep learning models based on…

Over the last decade, the demand for better segmentation and classification algorithms in 3D spaces has significantly grown due to the popularity of new 3D sensor technologies and advancements in the field of robotics. Point-clouds are one…

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…

We propose a precise and efficient normal estimation method that can deal with noise and nonuniform density for unstructured 3D point clouds. Unlike existing approaches that directly take patches and ignore the local neighborhood…

Semantic parsing of large-scale 3D point clouds is an important research topic in computer vision and remote sensing fields. Most existing approaches utilize hand-crafted features for each modality independently and combine them in a…

3D instance segmentation aims to predict a set of object instances in a scene, representing them as binary foreground masks with corresponding semantic labels. Currently, transformer-based methods are gaining increasing attention due to…

The semantic segmentation of point clouds is an important part of the environment perception for robots. However, it is difficult to directly adopt the traditional 3D convolution kernel to extract features from raw 3D point clouds because…

Recently, there has been a significant interest in performing convolution over irregularly sampled point clouds. Since point clouds are very different from regular raster images, it is imperative to study the generalization of the…

Existing point-cloud based 3D object detectors use convolution-like operators to process information in a local neighbourhood with fixed-weight kernels and aggregate global context hierarchically. However, non-local neural networks and…

3D point cloud analysis has drawn a lot of research attention due to its wide applications. However, collecting massive labelled 3D point cloud data is both time-consuming and labor-intensive. This calls for data-efficient learning methods.…

6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…

3D Convolutional Neural Networks are sensitive to transformations applied to their input. This is a problem because a voxelized version of a 3D object, and its rotated clone, will look unrelated to each other after passing through to the…

Rotational symmetry plays a central role in physics, providing an elegant framework to describe how the properties of 3D objects -- from atoms to the macroscopic scale -- transform under the action of rigid rotations. Equivariant models of…

Unlike images which are represented in regular dense grids, 3D point clouds are irregular and unordered, hence applying convolution on them can be difficult. In this paper, we extend the dynamic filter to a new convolution operation, named…

Point cloud is an important type of 3D representation. However, directly applying convolutions on point clouds is challenging due to the sparse, irregular and unordered data structure. In this paper, we propose a novel Interpolated…