相关论文: DSPoint: Dual-scale Point Cloud Recognition with H…

In this paper, we propose one novel model for point cloud semantic segmentation, which exploits both the local and global structures within the point cloud based on the contextual point representations. Specifically, we enrich each point…

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.…

Point clouds captured by different sensors such as RGB-D cameras and LiDAR possess non-negligible domain gaps. Most existing methods design different network architectures and train separately on point clouds from various sensors.…

Point cloud processing has become a cornerstone technology in many 3D vision tasks. However, arbitrary rotations introduce variations in point cloud orientations, posing a long-standing challenge for effective representation learning. The…

Medical image segmentation grapples with challenges including multi-scale lesion variability, ill-defined tissue boundaries, and computationally intensive processing demands. This paper proposes the DyGLNet, which achieves efficient and…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

Point cloud analysis has evolved with diverse network architectures, while existing works predominantly focus on introducing novel structural designs. However, conventional point-based architectures - processing raw points through…

Point cloud compression plays a crucial role in reducing the huge cost of data storage and transmission. However, distortions can be introduced into the decompressed point clouds due to quantization. In this paper, we propose a novel…

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention, but ignore their content and fail to establish relationships…

ObitoNet employs a Cross Attention mechanism to integrate multimodal inputs, where Vision Transformers (ViT) extract semantic features from images and a point cloud tokenizer processes geometric information using Farthest Point Sampling…

We introduce PointConvFormer, a novel building block for point cloud based deep network architectures. Inspired by generalization theory, PointConvFormer combines ideas from point convolution, where filter weights are only based on relative…

Convolution on 3D point clouds that generalized from 2D grid-like domains is widely researched yet far from perfect. The standard convolution characterises feature correspondences indistinguishably among 3D points, presenting an intrinsic…

Point clouds are unstructured and unordered data, as opposed to images. Thus, most machine learning approach developed for image cannot be directly transferred to point clouds. In this paper, we propose a generalization of discrete…

In recent years, point cloud analysis methods based on the Transformer architecture have made significant progress, particularly in the context of multimedia applications such as 3D modeling, virtual reality, and autonomous systems.…

While deep learning-based methods have demonstrated outstanding results in numerous domains, some important functionalities are missing. Resolution scalability is one of them. In this work, we introduce a novel architecture, dubbed…

Point clouds and images could provide complementary information when representing 3D objects. Fusing the two kinds of data usually helps to improve the detection results. However, it is challenging to fuse the two data modalities, due to…

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…

Previous studies have demonstrated the effectiveness of point-based neural models on the point cloud analysis task. However, there remains a crucial issue on producing the efficient input embedding for raw point coordinates. Moreover,…

Information inside visual and LiDAR data is well complementary derived from the fine-grained texture of images and massive geometric information in point clouds. However, it remains challenging to explore effective visual-LiDAR fusion,…