相关论文: Point Cloud Denoising via Momentum Ascent in Gradi…

LiDARs have been widely adopted to modern self-driving vehicles, providing 3D information of the scene and surrounding objects. However, adverser weather conditions still pose significant challenges to LiDARs since point clouds captured…

Much recent attention has been devoted to gradient descent algorithms where the steepest descent step size is replaced by a similar one from a previous iteration or gets updated only once every second step, thus forming a {\em faster…

Stochastic gradient descent (SGD) still is the workhorse for many practical problems. However, it converges slow, and can be difficult to tune. It is possible to precondition SGD to accelerate its convergence remarkably. But many attempts…

We present PointAugment, a new auto-augmentation framework that automatically optimizes and augments point cloud samples to enrich the data diversity when we train a classification network. Different from existing auto-augmentation methods…

We propose a precise and efficient normal estimation method that can deal with noise and nonuniform density for unstructured 3D point clouds. Unlike existing approaches that directly take patches and ignore the local neighborhood…

This work establishes new convergence guarantees for gradient descent in smooth convex optimization via a computer-assisted analysis technique. Our theory allows nonconstant stepsize policies with frequent long steps potentially violating…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…

A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…

Current methodologies in point cloud analysis predominantly explore 3D geometries, often achieved through the introduction of intricate learnable geometric extractors in the encoder or by deepening networks with repeated blocks. However,…

Recent research has revealed that the security of deep neural networks that directly process 3D point clouds to classify objects can be threatened by adversarial samples. Although existing adversarial attack methods achieve high success…

The continual improvement of 3D sensors has driven the development of algorithms to perform point cloud analysis. In fact, techniques for point cloud classification and segmentation have in recent years achieved incredible performance…

Adaptive gradient methods, e.g. \textsc{Adam}, have achieved tremendous success in machine learning. Scaling the learning rate element-wisely by a certain form of second moment estimate of gradients, such methods are able to attain rapid…

Face recognition using 3D point clouds is gaining growing interest, while raw point clouds often contain a significant amount of noise due to imperfect sensors. In this paper, an end-to-end 3D face recognition on a noisy point cloud is…

We present a robust refinement method for estimating oriented normals from unstructured point clouds. In contrast to previous approaches that either suffer from high computational complexity or fail to achieve desirable accuracy, our novel…

This paper investigates an open research task of reconstructing and generating 3D point clouds. Most existing works of 3D generative models directly take the Gaussian prior as input for the decoder to generate 3D point clouds, which fail to…

Point clouds are a fundamental 3D representation in computer vision, enabling a wide range of perception tasks. However, real-world point clouds often suffer from degradations such as incompleteness, noise, outliers, and irregular density,…

In point clouds, noise directly perturbs point coordinates that encode both spatial location and geometry, making one-to-one correspondence construction more challenging than in images. Existing methods impose statistical mappings across…

We propose a new strategy to bridge point cloud denoising and surface reconstruction by alternately updating the denoised point clouds and the reconstructed surfaces. In Poisson surface reconstruction, the implicit function is generated by…

We propose a new framework that formulates point cloud registration as a denoising diffusion process from noisy transformation to object transformation. During training stage, object transformation diffuses from ground-truth transformation…