相关论文: Quantifying point cloud realism through adversaria…

In this paper, we propose a new method for determining shared features of and measuring the distance between data sets or point clouds. Our approach uses the joint factorization of two data matrices $X_1,X_2$ into non-negative matrices $X_1…

Deep Neural Networks (DNNs) for 3D point cloud recognition are vulnerable to adversarial examples, threatening their practical deployment. Despite the many research endeavors have been made to tackle this issue in recent years, the…

As synthetic imagery is used more frequently in training deep models, it is important to understand how different synthesis techniques impact the performance of such models. In this work, we perform a thorough evaluation of the…

Autonomous vehicles (AVs) rely on LiDAR sensors for environmental perception and decision-making in driving scenarios. However, ensuring the safety and reliability of AVs in complex environments remains a pressing challenge. To address this…

We present a novel approach to point set registration which is based on one-shot adversarial learning. The idea of the algorithm is inspired by recent successes of generative adversarial networks. Treating the point clouds as…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…

On robotics computer vision tasks, generating and annotating large amounts of data from real-world for the use of deep learning-based approaches is often difficult or even impossible. A common strategy for solving this problem is to apply…

We present an approach to learning features that represent the local geometry around a point in an unstructured point cloud. Such features play a central role in geometric registration, which supports diverse applications in robotics and 3D…

Three-dimensional (3D) urban models have gained interest because of their applications in many use-cases such as urban planning and virtual reality. However, generating these 3D representations requires LiDAR data, which are not always…

Point clouds are an increasingly relevant data type but they are often corrupted by noise. We propose a deep neural network based on graph-convolutional layers that can elegantly deal with the permutation-invariance problem encountered by…

In this paper, we propose a normal estimation method for unstructured 3D point clouds. In this method, a feature constraint mechanism called Local Plane Features Constraint (LPFC) is used and then a multi-scale selection strategy is…

Acquired 3D point cloud data, whether from active sensors directly or from stereo-matching algorithms indirectly, typically contain non-negligible noise. To address the point cloud denoising problem, we propose a fast graph-based local…

By enabling capturing of 3D point clouds that reflect the geometry of the immediate environment, LiDAR has emerged as a primary sensor for autonomous systems. If a LiDAR scan is too sparse, occluded by obstacles, or too small in range,…

Due to the few annotated labels of 3D point clouds, how to learn discriminative features of point clouds to segment object instances is a challenging problem. In this paper, we propose a simple yet effective 3D instance segmentation…

In recent years, point cloud normal estimation, as a classical and foundational algorithm, has garnered extensive attention in the field of 3D geometric processing. Despite the remarkable performance achieved by current Neural Network-based…

3D dynamic point clouds provide a natural discrete representation of real-world objects or scenes in motion, with a wide range of applications in immersive telepresence, autonomous driving, surveillance, \etc. Nevertheless, dynamic point…

Learning point clouds is challenging due to the lack of connectivity information, i.e., edges. Although existing edge-aware methods can improve the performance by modeling edges, how edges contribute to the improvement is unclear. In this…

Most existing point cloud upsampling methods have roughly three steps: feature extraction, feature expansion and 3D coordinate prediction. However,they usually suffer from two critical issues: (1)fixed upsampling rate after one-time…

Recent work has shown that additive threat models, which only permit the addition of bounded noise to the pixels of an image, are insufficient for fully capturing the space of imperceivable adversarial examples. For example, small rotations…