相关论文: ReAgent: Point Cloud Registration using Imitation …

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

We can use a method called registration to integrate some point clouds that represent the shape of the real world. In this paper, we propose highly accurate and stable registration method. Our method detects keypoints from point clouds and…

Understanding spatial dynamics and semantics in point cloud is fundamental for comprehensive 3D comprehension. While reinforcement learning algorithms such as Group Relative Policy Optimization (GRPO) have recently achieved remarkable…

We present a novel, data driven approach for solving the problem of registration of two point cloud scans. Our approach is direct in the sense that a single pair of corresponding local patches already provides the necessary transformation…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

LiDAR (Light Detection And Ranging) is an essential and widely adopted sensor for autonomous vehicles, particularly for those vehicles operating at higher levels (L4-L5) of autonomy. Recent work has demonstrated the promise of deep-learning…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Recent works leverage the power of deep learning for registering a pair of point sets. However, unfortunately, deep…

For the registration of partially overlapping point clouds, this paper proposes an effective approach based on both the hard and soft assignments. Given two initially posed clouds, it firstly establishes the forward correspondence for each…

We present RL-GAN-Net, where a reinforcement learning (RL) agent provides fast and robust control of a generative adversarial network (GAN). Our framework is applied to point cloud shape completion that converts noisy, partial point cloud…

Emerging Internet of Things (IoT) and mobile computing applications are expected to support latency-sensitive deep neural network (DNN) workloads. To realize this vision, the Internet is evolving towards an edge-computing architecture,…

Surface reconstruction from point clouds is a fundamental step in many applications in computer vision. In this paper, we develop an efficient iterative method on a variational model for the surface reconstruction from point clouds. The…

Imitation learning is an effective alternative approach to learn a policy when the reward function is sparse. In this paper, we consider a challenging setting where an agent and an expert use different actions from each other. We assume…

Point cloud registration plays a crucial role in various fields, including robotics, computer graphics, and medical imaging. This process involves determining spatial relationships between different sets of points, typically within a 3D…

Using heterogeneous depth cameras and 3D scanners in 3D face verification causes variations in the resolution of the 3D point clouds. To solve this issue, previous studies use 3D registration techniques. Out of these proposed techniques,…

We propose an effective unsupervised 3D point cloud novelty detection approach, leveraging a general point cloud feature extractor and a one-class classifier. The general feature extractor consists of a graph-based autoencoder and is…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

Conventional methods of 3D object generative modeling learn volumetric predictions using deep networks with 3D convolutional operations, which are direct analogies to classical 2D ones. However, these methods are computationally wasteful in…

Recent advances in self-supervised learning (SSL) for point clouds have substantially improved 3D scene understanding without human annotations. Existing approaches emphasize semantic awareness by enforcing feature consistency across…

Point clouds have become an increasingly important representation for 3D medical imaging, offering a compact, surface-preserving alternative to traditional voxel or mesh-based approaches. Recent advances in deep learning have enabled rapid…