相关论文: Projection-based Point Convolution for Efficient P…

Convolution on 3D point clouds is widely researched yet far from perfect in geometric deep learning. The traditional wisdom of convolution characterises feature correspondences indistinguishably among 3D points, arising an intrinsic…

Following considerable development in 3D scanning technologies, many studies have recently been proposed with various approaches for 3D vision tasks, including some methods that utilize 2D convolutional neural networks (CNNs). However, even…

In the domain of point cloud analysis, despite the significant capabilities of Graph Neural Networks (GNNs) in managing complex 3D datasets, existing approaches encounter challenges like high computational costs and scalability issues with…

This paper presents Point Convolutional Neural Networks (PCNN): a novel framework for applying convolutional neural networks to point clouds. The framework consists of two operators: extension and restriction, mapping point cloud functions…

Deep learning systems extensively use convolution operations to process input data. Though convolution is clearly defined for structured data such as 2D images or 3D volumes, this is not true for other data types such as sparse point…

We present Kernel Point Convolution (KPConv), a new design of point convolution, i.e. that operates on point clouds without any intermediate representation. The convolution weights of KPConv are located in Euclidean space by kernel points,…

In the field of deep point cloud understanding, KPConv is a unique architecture that uses kernel points to locate convolutional weights in space, instead of relying on Multi-Layer Perceptron (MLP) encodings. While it initially achieved…

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…

We propose an approach to instance segmentation from 3D point clouds based on dynamic convolution. This enables it to adapt, at inference, to varying feature and object scales. Doing so avoids some pitfalls of bottom up approaches,…

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…

In recent years, with the development of computing resources and LiDAR, point cloud semantic segmentation has attracted many researchers. For the sparsity of point clouds, although there is already a way to deal with sparse convolution,…

Point cloud analysis is challenging due to irregularity and unordered data structure. To capture the 3D geometries, prior works mainly rely on exploring sophisticated local geometric extractors using convolution, graph, or attention…

Point cloud processing methods exploit local point features and global context through aggregation which does not explicity model the internal correlations between local and global features. To address this problem, we propose full point…

Recent advances in deep learning for 3D point clouds have shown great promises in scene understanding tasks thanks to the introduction of convolution operators to consume 3D point clouds directly in a neural network. Point cloud data,…

Previous top-performing approaches for point cloud instance segmentation involve a bottom-up strategy, which often includes inefficient operations or complex pipelines, such as grouping over-segmented components, introducing additional…

Fusion of 2D images and 3D point clouds is important because information from dense images can enhance sparse point clouds. However, fusion is challenging because 2D and 3D data live in different spaces. In this work, we propose MVPNet…

Semantic segmentation of 3D point cloud data is essential for enhanced high-level perception in autonomous platforms. Furthermore, given the increasing deployment of LiDAR sensors onboard of cars and drones, a special emphasis is also…

Recent studies have witnessed the effectiveness of 3D convolutions on segmenting volumetric medical images. Compared with the 2D counterparts, 3D convolutions can capture the spatial context in three dimensions. Nevertheless, models…

Point cloud is a principal data structure adopted for 3D geometric information encoding. Unlike other conventional visual data, such as images and videos, these irregular points describe the complex shape features of 3D objects, which makes…

Efficient analysis of point clouds holds paramount significance in real-world 3D applications. Currently, prevailing point-based models adhere to the PointNet++ methodology, which involves embedding and abstracting point features within a…