相关论文: Sequential Point Cloud Prediction in Interactive S…

Scene flow depicts the dynamics of a 3D scene, which is critical for various applications such as autonomous driving, robot navigation, AR/VR, etc. Conventionally, scene flow is estimated from dense/regular RGB video frames. With the…

Point cloud based retrieval for place recognition is an emerging problem in vision field. The main challenge is how to find an efficient way to encode the local features into a discriminative global descriptor. In this paper, we propose a…

In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

Dynamic 3D point cloud sequences serve as one of the most common and practical representation modalities of dynamic real-world environments. However, their unstructured nature in both spatial and temporal domains poses significant…

Scene flow estimation is the task of describing 3D motion between temporally successive observations. This thesis aims to build the foundation for building scene flow estimators with two important properties: they are scalable, i.e. they…

Self-supervised representation learning (SSRL) has gained increasing attention in point cloud understanding, in addressing the challenges posed by 3D data scarcity and high annotation costs. This paper presents PCExpert, a novel SSRL…

We propose the Temporal Point Cloud Networks (TPCN), a novel and flexible framework with joint spatial and temporal learning for trajectory prediction. Unlike existing approaches that rasterize agents and map information as 2D images or…

Point cloud data has been extensively studied due to its compact form and flexibility in representing complex 3D structures. The ability of point cloud data to accurately capture and represent intricate 3D geometry makes it an ideal choice…

Understanding the flow in 3D space of sparsely sampled points between two consecutive time frames is the core stone of modern geometric-driven systems such as VR/AR, Robotics, and Autonomous driving. The lack of real, non-simulated, labeled…

In this paper we address the task of finding representative subsets of points in a 3D point cloud by means of a point-wise ordering. Only a few works have tried to address this challenging vision problem, all with the help of hard to obtain…

We propose a novel approach to self-supervised learning of point cloud representations by differentiable neural rendering. Motivated by the fact that informative point cloud features should be able to encode rich geometry and appearance…

Point clouds, as a primary representation of 3D data, can be categorized into scene domain point clouds and object domain point clouds. Point cloud self-supervised learning (SSL) has become a mainstream paradigm for learning 3D…

Due to the difficulty in generating the effective descriptors which are robust to occlusion and viewpoint changes, place recognition for 3D point cloud remains an open issue. Unlike most of the existing methods that focus on extracting…

Point cloud learning is receiving increasing attention. However, most existing point cloud models lack the practical ability to deal with the unavoidable presence of unknown objects. This paper primarily discusses point cloud learning in…

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.…

Scene flow estimation is a long-standing problem in computer vision, where the goal is to find the 3D motion of a scene from its consecutive observations. Recently, there have been efforts to compute the scene flow from 3D point clouds. A…

Deformable objects present a formidable challenge for robotic manipulation due to the lack of canonical low-dimensional representations and the difficulty of capturing, predicting, and controlling such objects. We construct compact…

Learning without supervision how to predict 3D scene flows from point clouds is essential to many perception systems. We propose a novel learning framework for this task which improves the necessary regularization. Relying on the assumption…

LiDAR sensors are an integral part of modern autonomous vehicles as they provide an accurate, high-resolution 3D representation of the vehicle's surroundings. However, it is computationally difficult to make use of the ever-increasing…