相关论文: LAKe-Net: Topology-Aware Point Cloud Completion by…

Large Reconstruction Models have made significant strides in the realm of automated 3D content generation from single or multiple input images. Despite their success, these models often produce 3D meshes with geometric inaccuracies,…

Recently, 3D anomaly detection, a crucial problem involving fine-grained geometry discrimination, is getting more attention. However, the lack of abundant real 3D anomaly data limits the scalability of current models. To enable scalable…

Rigid registration of partial observations is a fundamental problem in various applied fields. In computer graphics, special attention has been given to the registration between two partial point clouds generated by scanning devices.…

Topology reasoning, which unifies perception and structured reasoning, plays a vital role in understanding intersections for autonomous driving. However, its performance heavily relies on the accuracy of lane detection, particularly at…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

Discrete point cloud objects lack sufficient shape descriptors of 3D geometries. In this paper, we present a novel method for aggregating hypothetical curves in point clouds. Sequences of connected points (curves) are initially grouped by…

Point cloud registration methods can effectively handle large-scale, partially overlapping point cloud pairs. Despite its practicality, matching the unbalanced pairs in terms of spatial extent and density has been overlooked and rarely…

Point cloud completion aims to generate a complete and high-fidelity point cloud from an initially incomplete and low-quality input. A prevalent strategy involves leveraging Transformer-based models to encode global features and facilitate…

Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

Point cloud architecture design has become a crucial problem for 3D deep learning. Several efforts exist to manually design architectures with high accuracy in point cloud tasks such as classification, segmentation, and detection. Recent…

Partial dental point clouds often suffer from large missing regions caused by occlusion and limited scanning views, which bias encoder-only global features and force decoders to hallucinate structures. We propose a retrieval-augmented…

Category-level articulated object pose estimation focuses on the pose estimation of unknown articulated objects within known categories. Despite its significance, this task remains challenging due to the varying shapes and poses of objects,…

Most existing point cloud completion methods suffer from the discrete nature of point clouds and the unstructured prediction of points in local regions, which makes it difficult to reveal fine local geometric details. To resolve this issue,…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

We present AGL-NET, a novel learning-based method for global localization using LiDAR point clouds and satellite maps. AGL-NET tackles two critical challenges: bridging the representation gap between image and points modalities for robust…

Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion.…

Topological data analysis computes and analyses topological features of the point clouds by constructing and studying a simplicial representation of the underlying topological structure. The enthusiasm that followed the initial successes of…

To further promote the development of multimodal point cloud completion, we contribute a large-scale multimodal point cloud completion benchmark ModelNet-MPC with richer shape categories and more diverse test data, which contains nearly…

Some robust point cloud registration approaches with controllable pose refinement magnitude, such as ICP and its variants, are commonly used to improve 6D pose estimation accuracy. However, the effectiveness of these methods gradually…