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

Owing to the development of research on local aggregation operators, dramatic breakthrough has been made in point cloud analysis models. However, existing local aggregation operators in the current literature fail to attach decent…

In contrast to the literature where local patterns in 3D point clouds are captured by customized convolutional operators, in this paper we study the problem of how to effectively and efficiently project such point clouds into a 2D image…

Learning to generate 3D point clouds without 3D supervision is an important but challenging problem. Current solutions leverage various differentiable renderers to project the generated 3D point clouds onto a 2D image plane, and train deep…

LiDAR point-cloud segmentation is an important problem for many applications. For large-scale point cloud segmentation, the \textit{de facto} method is to project a 3D point cloud to get a 2D LiDAR image and use convolutions to process it.…

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…

3D instance segmentation is crucial for obtaining an understanding of a point cloud scene. This paper presents a novel neural network architecture for performing instance segmentation on 3D point clouds. We propose to jointly learn…

Point cloud is an important data structure for a wide range of applications, including robotics, AR/VR, and autonomous driving. To process the point cloud, many deep-learning-based point cloud recognition algorithms have been proposed.…

This paper proposes a computationally efficient approach to detecting objects natively in 3D point clouds using convolutional neural networks (CNNs). In particular, this is achieved by leveraging a feature-centric voting scheme to implement…

Semantic segmentation of 3D point cloud is an essential task for autonomous driving environment perception. The pipeline of most pointwise point cloud semantic segmentation methods includes points sampling, neighbor searching, feature…

Point clouds provide a flexible geometric representation suitable for countless applications in computer graphics; they also comprise the raw output of most 3D data acquisition devices. While hand-designed features on point clouds have long…

Extending the translation equivariance property of convolutional neural networks to larger symmetry groups has been shown to reduce sample complexity and enable more discriminative feature learning. Further, exploiting additional symmetries…

Recent temporal LiDAR-based 3D object detectors achieve promising performance based on the two-stage proposal-based approach. They generate 3D box candidates from the first-stage dense detector, followed by different temporal aggregation…

Point cloud completion is a generation and estimation issue derived from the partial point clouds, which plays a vital role in the applications in 3D computer vision. The progress of deep learning (DL) has impressively improved the…

Deep convolutional neural networks achieve remarkable visual recognition performance, at the cost of high computational complexity. In this paper, we have a new design of efficient convolutional layers based on three schemes. The 3D…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

Standard spatial convolutions assume input data with a regular neighborhood structure. Existing methods typically generalize convolution to the irregular point cloud domain by fixing a regular "view" through e.g. a fixed neighborhood size,…

With the rapid development of measurement technology, LiDAR and depth cameras are widely used in the perception of the 3D environment. Recent learning based methods for robot perception most focus on the image or video, but deep learning…

We present a unified, efficient and effective framework for point-cloud based 3D object detection. Our two-stage approach utilizes both voxel representation and raw point cloud data to exploit respective advantages. The first stage network,…

The paper presents a learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Existing methods, such as PointNetVLAD, are based on unordered point cloud representation. They use PointNet…

The growing size of point clouds enlarges consumptions of storage, transmission, and computation of 3D scenes. Raw data is redundant, noisy, and non-uniform. Therefore, simplifying point clouds for achieving compact, clean, and uniform…