相关论文: Dynamic Convolution for 3D Point Cloud Instance Se…

Most contemporary approaches to instance segmentation use complex pipelines involving conditional random fields, recurrent neural networks, object proposals, or template matching schemes. In our paper, we present a simple yet powerful…

Place recognition plays an essential role in the field of autonomous driving and robot navigation. Point cloud based methods mainly focus on extracting global descriptors from local features of point clouds. Despite having achieved…

Due to limitations in acquisition equipment, noise perturbations often corrupt 3-D point clouds, hindering down-stream tasks such as surface reconstruction, rendering, and further processing. Existing 3-D point cloud denoising methods…

Coarse-to-fine 3D instance segmentation methods show weak performances compared to recent Grouping-based, Kernel-based and Transformer-based methods. We argue that this is due to two limitations: 1) Instance size overestimation by…

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…

Exploring contextual information in the local region is important for shape understanding and analysis. Existing studies often employ hand-crafted or explicit ways to encode contextual information of local regions. However, it is hard to…

Existing convolutional learning methods for 3D point cloud data are divided into two paradigms: point-based methods that preserve geometric precision but often face performance challenges, and voxel-based methods that achieve high…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

Online semantic 3D segmentation in company with real-time RGB-D reconstruction poses special challenges such as how to perform 3D convolution directly over the progressively fused 3D geometric data, and how to smartly fuse information from…

Extending the translation equivariance property of convolutional neural networks to larger symmetry groups has been shown to reduce sample complexity and enable more discriminative feature learning. Further, exploiting additional symmetries…

When classifying point clouds, a large amount of time is devoted to the process of engineering a reliable set of features which are then passed to a classifier of choice. Generally, such features - usually derived from the 3D-covariance…

Instance segmentation in 3D is a challenging task due to the lack of large-scale annotated datasets. In this paper, we show that this task can be addressed effectively by leveraging instead 2D pre-trained models for instance segmentation.…

3D point cloud semantic and instance segmentation is crucial and fundamental for 3D scene understanding. Due to the complex structure, point sets are distributed off balance and diversely, which appears as both category imbalance and…

This paper introduces a new problem in 3D point cloud: few-shot instance segmentation. Given a few annotated point clouds exemplified a target class, our goal is to segment all instances of this target class in a query point cloud. This…

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…

Instance segmentation in point clouds is one of the most fine-grained ways to understand the 3D scene. Due to its close relationship to semantic segmentation, many works approach these two tasks simultaneously and leverage the benefits of…

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…

Implicit neural networks have been successfully used for surface reconstruction from point clouds. However, many of them face scalability issues as they encode the isosurface function of a whole object or scene into a single latent vector.…

In the recent years, the research community has witnessed growing use of 3D point cloud data for the high applicability in various real-world applications. By means of 3D point cloud, this modality enables to consider the actual size and…

Exploiting convolutional neural networks for point cloud processing is quite challenging, due to the inherent irregular distribution and discrete shape representation of point clouds. To address these problems, many handcrafted convolution…