相关论文: Quantifying point cloud realism through adversaria…

3D point clouds are often perturbed by noise due to the inherent limitation of acquisition equipments, which obstructs downstream tasks such as surface reconstruction, rendering and so on. Previous works mostly infer the displacement of…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

Recent progress of semantic point clouds analysis is largely driven by synthetic data (e.g., the ModelNet and the ShapeNet), which are typically complete, well-aligned and noisy free. Therefore, representations of those ideal synthetic…

In this paper, we propose a point cloud classification method based on graph neural network and manifold learning. Different from the conventional point cloud analysis methods, this paper uses manifold learning algorithms to embed point…

Automotive radar has shown promising developments in environment perception due to its cost-effectiveness and robustness in adverse weather conditions. However, the limited availability of annotated radar data poses a significant challenge…

In Autonomous Driving (AD), detection and tracking of obstacles on the roads is a critical task. Deep-learning based methods using annotated LiDAR data have been the most widely adopted approach for this. Unfortunately, annotating 3D point…

Following the advent of immersive technologies and the increasing interest in representing interactive geometrical format, 3D Point Clouds (PC) have emerged as a promising solution and effective means to display 3D visual information. In…

In this paper, we address the enhancement of classification accuracy for 3D point cloud Lidar data, an optical remote sensing technique that estimates the three-dimensional coordinates of a given terrain. Our approach introduces product…

Notwithstanding the prominent performance achieved in various applications, point cloud recognition models have often suffered from natural corruptions and adversarial perturbations. In this paper, we delve into boosting the general…

3D laser scanning by LiDAR sensors plays an important role for mobile robots to understand their surroundings. Nevertheless, not all systems have high resolution and accuracy due to hardware limitations, weather conditions, and so on.…

Autonomous driving demands high-quality LiDAR data, yet the cost of physical LiDAR sensors presents a significant scaling-up challenge. While recent efforts have explored deep generative models to address this issue, they often consume…

Real-world applications of machine learning models are often subject to legal or policy-based regulations. Some of these regulations require ensuring the validity of the model, i.e., the approximation error being smaller than a threshold. A…

Point clouds acquired from scanning devices are often perturbed by noise, which affects downstream tasks such as surface reconstruction and analysis. The distribution of a noisy point cloud can be viewed as the distribution of a set of…

In this paper we present our research on the optimisation of a deep neural network for 3D object detection in a point cloud. Techniques like quantisation and pruning available in the Brevitas and PyTorch tools were used. We performed the…

Recently, the progress of learning-by-synthesis has proposed a training model for synthetic images, which can effectively reduce the cost of human and material resources. However, due to the different distribution of synthetic images…

An effective 3D descriptor should be invariant to different geometric transformations, such as scale and rotation, robust to occlusions and clutter, and capable of generalising to different application domains. We present a simple yet…

Estimation of differential geometric quantities in discrete 3D data representations is one of the crucial steps in the geometry processing pipeline. Specifically, estimating normals and sharp feature lines from raw point cloud helps improve…

Point cloud segmentation is a fundamental task in 3D. Despite recent progress on point cloud segmentation with the power of deep networks, current learning methods based on the clean label assumptions may fail with noisy labels. Yet, class…

In recent years, deep learning-based point cloud normal estimation has made great progress. However, existing methods mainly rely on the PCPNet dataset, leading to overfitting. In addition, the correlation between point clouds with…

Existing deep learning algorithms for point cloud analysis mainly concern discovering semantic patterns from global configuration of local geometries in a supervised learning manner. However, very few explore geometric properties revealing…