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

Pre-training a model and then fine-tuning it on downstream tasks has demonstrated significant success in the 2D image and NLP domains. However, due to the unordered and non-uniform density characteristics of point clouds, it is non-trivial…

Point cloud is a collection of 3D coordinates that are discrete geometric samples of an object's 2D surfaces. Imperfection in the acquisition process means that point clouds are often corrupted with noise. Building on recent advances in…

This paper presents a neural network for robust normal estimation on point clouds, named AdaFit, that can deal with point clouds with noise and density variations. Existing works use a network to learn point-wise weights for weighted least…

Normal estimation for 3D point clouds is a fundamental task in 3D geometry processing. The state-of-the-art methods rely on priors of fitting local surfaces learned from normal supervision. However, normal supervision in benchmarks comes…

Recently, learning multi-view neural surface reconstruction with the supervision of point clouds or depth maps has been a promising way. However, due to the underutilization of prior information, current methods still struggle with the…

Processing point clouds using deep neural networks is still a challenging task. Most existing models focus on object detection and registration with deep neural networks using point clouds. In this paper, we propose a deep model that learns…

Gradient descent-based optimization methods underpin the parameter training of neural networks, and hence comprise a significant component in the impressive test results found in a number of applications. Introducing stochasticity is key to…

Current learning-based methods predict NeRF or 3D Gaussians from point clouds to achieve photo-realistic rendering but still depend on categorical priors, dense point clouds, or additional refinements. Hence, we introduce a novel point…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

We show that denoising of 3D point clouds can be learned unsupervised, directly from noisy 3D point cloud data only. This is achieved by extending recent ideas from learning of unsupervised image denoisers to unstructured 3D point clouds.…

Point cloud is often regarded as a discrete sampling of Riemannian manifold and plays a pivotal role in the 3D image interpretation. Particularly, rotation perturbation, an unexpected small change in rotation caused by various factors (like…

To improve the off-sample generalization of classical procedures minimizing the empirical risk under potentially heavy-tailed data, new robust learning algorithms have been proposed in recent years, with generalized median-of-means…

Point clouds, as a form of Lagrangian representation, allow for powerful and flexible applications in a large number of computational disciplines. We propose a novel deep-learning method to learn stable and temporally coherent feature…

Overshoot is a novel, momentum-based stochastic gradient descent optimization method designed to enhance performance beyond standard and Nesterov's momentum. In conventional momentum methods, gradients from previous steps are aggregated…

Predicting the future can significantly improve the safety of intelligent vehicles, which is a key component in autonomous driving. 3D point clouds accurately model 3D information of surrounding environment and are crucial for intelligent…

We consider gradient descent with `momentum', a widely used method for loss function minimization in machine learning. This method is often used with `Nesterov acceleration', meaning that the gradient is evaluated not at the current…

We focus on the optimization problem with smooth, possibly nonconvex objectives and a convex constraint set for which the Euclidean projection operation is practically available. Focusing on this setting, we carry out a general convergence…

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…

In this paper, we investigate the influence of noise giving an estimate of the gradient having a acute angle with the original. Noise amplitude has a relative model. The work offers both theoretical calculations and theorems, as well as…

In recent years, deep learning-based point cloud normal estimation has made great progress. However, existing methods mainly rely on the PCPNet dataset, leading to overfitting. In addition, the correlation between point clouds with…