相关论文: A Robust Scheme for 3D Point Cloud Copy Detection

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

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.…

Existing normal estimation methods for point clouds are often less robust to severe noise and complex geometric structures. Also, they usually ignore the contributions of different neighbouring points during normal estimation, which leads…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

There is a growing number of tasks that work directly on point clouds. As the size of the point cloud grows, so do the computational demands of these tasks. A possible solution is to sample the point cloud first. Classic sampling…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

In this work, we propose a novel two-stage framework for the efficient 3D point cloud object detection. Instead of transforming point clouds into 2D bird eye view projections, we parse the raw point cloud data directly in the 3D space yet…

Point cloud learning has lately attracted increasing attention due to its wide applications in many areas, such as computer vision, autonomous driving, and robotics. As a dominating technique in AI, deep learning has been successfully used…

We propose a systematic approach for registering cross-source point clouds. The compelling need for cross-source point cloud registration is motivated by the rapid development of a variety of 3D sensing techniques, but many existing…

In this paper, we propose novel edge and corner detection algorithms for unorganized point clouds. Our edge detection method evaluates symmetry in a local neighborhood and uses an adaptive density based threshold to differentiate 3D edge…

Point cloud surface reconstruction has improved in accuracy with advances in deep learning, enabling applications such as infrastructure inspection. Recent approaches that reconstruct from small local regions rather than entire point clouds…

Existing position based point cloud filtering methods can hardly preserve sharp geometric features. In this paper, we rethink point cloud filtering from a non-learning non-local non-normal perspective, and propose a novel position based…

As a collection of 3D points sampled from surfaces of objects, a 3D point cloud is widely used in robotics, autonomous driving and augmented reality. Due to the physical limitations of 3D sensing devices, 3D point clouds are usually noisy,…

3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

Point clouds captured by scanning devices are often incomplete due to occlusion. To overcome this limitation, point cloud completion methods have been developed to predict the complete shape of an object based on its partial input. These…

As human-machine interaction continues to evolve, the capacity for environmental perception is becoming increasingly crucial. Integrating the two most common types of sensory data, images, and point clouds, can enhance detection accuracy.…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

Point cloud is a collection of 3D coordinates that are discrete geometric samples of an object's 2D surfaces. Imperfection in the acquisition process means that point clouds are often corrupted with noise. Building on recent advances in…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…