相关论文: Graph-Based Depth Denoising & Dequantization for P…

Pre-trained point cloud analysis models have shown promising advancements in various downstream tasks, yet their effectiveness is typically suffering from low-quality point cloud (i.e., noise and incompleteness), which is a common issue in…

Depth images captured by off-the-shelf RGB-D cameras suffer from much stronger noise than color images. In this paper, we propose a method to denoise the depth images in RGB-D images by color-guided graph filtering. Our iterative method…

Point clouds obtained with 3D scanners or by image-based reconstruction techniques are often corrupted with significant amount of noise and outliers. Traditional methods for point cloud denoising largely rely on local surface fitting (e.g.,…

3D point cloud (PC) -- a collection of discrete geometric samples of a physical object's surface -- is typically large in size, which entails expensive subsequent operations like viewpoint image rendering and object recognition. Leveraging…

In this paper, we propose a graph neural network to detect objects from a LiDAR point cloud. Towards this end, we encode the point cloud efficiently in a fixed radius near-neighbors graph. We design a graph neural network, named Point-GNN,…

Processing 3D pointclouds with Deep Learning methods is not an easy task. A common choice is to do so with Graph Neural Networks, but this framework involves the creation of edges between points, which are explicitly not related between…

Point clouds captured by scanning sensors are often perturbed by noise, which have a highly negative impact on downstream tasks (e.g. surface reconstruction and shape understanding). Previous works mostly focus on training neural networks…

Building on recent advances in Bayesian statistics and image denoising, we propose Noise2Score3D, a fully unsupervised framework for point cloud denoising. Noise2Score3D learns the score function of the underlying point cloud distribution…

As 3D scanning devices and depth sensors mature, point clouds have attracted increasing attention as a format for 3D object representation, with applications in various fields such as tele-presence, navigation and heritage reconstruction.…

In this paper, we introduce a novel approach that harnesses both 2D and 3D attentions to enable highly accurate depth completion without requiring iterative spatial propagations. Specifically, we first enhance a baseline convolutional depth…

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…

Consumer-level depth cameras and depth sensors embedded in mobile devices enable numerous applications, such as AR games and face identification. However, the quality of the captured depth is sometimes insufficient for 3D reconstruction,…

Point cloud is a collection of 3D coordinates that are discrete geometric samples of an object's 2D surfaces. Using a low-cost 3D scanner to acquire data means that point clouds are often in lower resolution than desired for rendering on…

To achieve point cloud denoising, traditional methods heavily rely on geometric priors, and most learning-based approaches suffer from outliers and loss of details. Recently, the gradient-based method was proposed to estimate the gradient…

Along with increasingly popular virtual reality applications, the three-dimensional (3D) point cloud has become a fundamental data structure to characterize 3D objects and surroundings. To process 3D point clouds efficiently, a suitable…

Point cloud compression (PCC) is a key enabler for various 3-D applications, owing to the universality of the point cloud format. Ideally, 3D point clouds endeavor to depict object/scene surfaces that are continuous. Practically, as a set…

In recent years, point clouds have become increasingly popular for representing three-dimensional (3D) visual objects and scenes. To efficiently store and transmit point clouds, compression methods have been developed, but they often result…

We propose simple yet effective improvements in point representations and local neighborhood graph construction within the general framework of graph neural networks (GNNs) for 3D point cloud processing. As a first contribution, we propose…

Surface reconstruction from an unorganized point cloud is an important problem due to its widespread applications. White noise, possibly clustered outliers, and noisy perturbation may be generated when a point cloud is sampled from a…

Accurate three-dimensional perception is a fundamental task in several computer vision applications. Recently, commercial RGB-depth (RGB-D) cameras have been widely adopted as single-view depth-sensing devices owing to their efficient…