相关论文: GASCN: Graph Attention Shape Completion Network

Shape completion, the problem of estimating the complete geometry of objects from partial observations, lies at the core of many vision and robotics applications. In this work, we propose Point Completion Network (PCN), a novel…

For a long time, the point cloud completion task has been regarded as a pure generation task. After obtaining the global shape code through the encoder, a complete point cloud is generated using the shape priorly learnt by the networks.…

This work provides an architecture to enable robotic grasp planning via shape completion. Shape completion is accomplished through the use of a 3D convolutional neural network (CNN). The network is trained on our own new open source dataset…

Given partial objects and some complete ones as references, point cloud completion aims to recover authentic shapes. However, existing methods pay little attention to general shapes, which leads to the poor authenticity of completion…

Point cloud completion is a vital task focused on reconstructing complete point clouds and addressing the incompleteness caused by occlusion and limited sensor resolution. Traditional methods relying on fixed local region partitioning, such…

Point completion refers to complete the missing geometries of objects from partial point clouds. Existing works usually estimate the missing shape by decoding a latent feature encoded from the input points. However, real-world objects are…

Point cloud completion is essential for robotic perception, object reconstruction and supporting downstream tasks like grasp planning, obstacle avoidance, and manipulation. However, incomplete geometry caused by self-occlusion and sensor…

Image guided depth completion aims to recover per-pixel dense depth maps from sparse depth measurements with the help of aligned color images, which has a wide range of applications from robotics to autonomous driving. However, the 3D…

The analysis of 3D point clouds has diverse applications in robotics, vision and graphics. Processing them presents specific challenges since they are naturally sparse, can vary in spatial resolution and are typically unordered. Graph-based…

Point completion refers to completing the missing geometries of an object from incomplete observations. Main-stream methods predict the missing shapes by decoding a global feature learned from the input point cloud, which often leads to…

Point cloud completion is the task of predicting complete geometry from partial observations using a point set representation for a 3D shape. Previous approaches propose neural networks to directly estimate the whole point cloud through…

Exploiting fine-grained semantic features on point cloud is still challenging due to its irregular and sparse structure in a non-Euclidean space. Among existing studies, PointNet provides an efficient and promising approach to learn shape…

Point cloud completion referring to completing 3D shapes from partial 3D point clouds is a fundamental problem for 3D point cloud analysis tasks. Benefiting from the development of deep neural networks, researches on point cloud completion…

Graph Convolutional Networks (GCNs) have received increasing attention in the machine learning community for effectively leveraging both the content features of nodes and the linkage patterns across graphs in various applications. As…

LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…

Real-scanned point clouds are often incomplete due to viewpoint, occlusion, and noise. Existing point cloud completion methods tend to generate global shape skeletons and hence lack fine local details. Furthermore, they mostly learn a…

Graph Neural Networks (GNNs) are gaining increasing attention on graph data learning tasks in recent years. However, in many applications, graph may be coming in an incomplete form where attributes of graph nodes are partially…

We propose a data-driven method for recovering miss-ing parts of 3D shapes. Our method is based on a new deep learning architecture consisting of two sub-networks: a global structure inference network and a local geometry refinement…

Point clouds are often sparse and incomplete. Existing shape completion methods are incapable of generating details of objects or learning the complex point distributions. To this end, we propose a cascaded refinement network together with…

Currently, robotic grasping methods based on sparse partial point clouds have attained a great grasping performance on various objects while they often generate wrong grasping candidates due to the lack of geometric information on the…