相关论文: Robust Partial-to-Partial Point Cloud Registration…

Point cloud registration is a fundamental problem in many domains. Practically, the overlap between point clouds to be registered may be relatively small. Most unsupervised methods lack effective initial evaluation of overlap, leading to…

Unlike on images, semantic learning on 3D point clouds using a deep network is challenging due to the naturally unordered data structure. Among existing works, PointNet has achieved promising results by directly learning on point sets.…

Semantic segmentation of point clouds, aiming to assign each point a semantic category, is critical to 3D scene understanding.Despite of significant advances in recent years, most of existing methods still suffer from either the…

Point cloud registration approaches often fail when the overlap between point clouds is low due to noisy point correspondences. This work introduces a novel cross-attention mechanism tailored for Transformer-based architectures that tackles…

Point cloud registration is a fundamental task in 3D computer vision. Most existing methods rely solely on geometric information for feature extraction and matching. Recently, several studies have incorporated color information from RGB-D…

Rigid registration of point clouds with partial overlaps is a longstanding problem usually solved in two steps: (a) finding correspondences between the point clouds; (b) filtering these correspondences to keep only the most reliable ones to…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

Relocalization, the process of re-establishing a robot's position within an environment, is crucial for ensuring accurate navigation and task execution when external positioning information, such as GPS, is unavailable or has been lost.…

Understanding the implication of point cloud is still challenging to achieve the goal of classification or segmentation due to the irregular and sparse structure of point cloud. As we have known, PointNet architecture as a ground-breaking…

Inspired by recent improvements in point cloud processing for autonomous navigation, we focus on using hierarchical graph neural networks for processing and feature learning over large-scale outdoor LiDAR point clouds. We observe that…

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…

Point clouds are characterized by irregularity and unstructuredness, which pose challenges in efficient data exploitation and discriminative feature extraction. In this paper, we present an unsupervised deep neural architecture called…

Point cloud analysis is a fundamental task in 3D computer vision. Most previous works have conducted experiments on synthetic datasets with well-aligned data; while real-world point clouds are often not pre-aligned. How to achieve rotation…

Geometry and topology constitute complementary descriptors of three-dimensional shape, yet existing benchmark datasets primarily capture geometric information while neglecting topological structure. This work addresses this limitation by…

With the development of 3D sensing technologies, point clouds have attracted increasing attention in a variety of applications for 3D object representation, such as autonomous driving, 3D immersive tele-presence and heritage reconstruction.…

In this paper, we tackle the challenging problem of point cloud completion from the perspective of feature learning. Our key observation is that to recover the underlying structures as well as surface details, given partial input, a…

Point cloud classification is an essential component in many security-critical applications such as autonomous driving and augmented reality. However, point cloud classifiers are vulnerable to adversarially perturbed point clouds. Existing…

Image-to-point cloud registration methods typically follow a coarse-to-fine pipeline, extracting patch-level correspondences and refining them into dense pixel-to-point matches. However, in scenes with repetitive patterns, images often lack…

Non-rigid point cloud registration is a crucial task in computer vision. Evaluating a non-rigid point cloud registration method requires a dataset with challenges such as large deformation levels, noise, outliers, and incompleteness.…

Registration is a fundamental but critical task in point cloud processing, which usually depends on finding element correspondence from two point clouds. However, the finding of reliable correspondence relies on establishing a robust and…