相关论文: Point Scene Understanding via Disentangled Instanc…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

In this paper, we study the problem of 3D scene geometry decomposition and manipulation from 2D views. By leveraging the recent implicit neural representation techniques, particularly the appealing neural radiance fields, we introduce an…

We present a simple and effective framework, named Point2Seq, for 3D object detection from point clouds. In contrast to previous methods that normally {predict attributes of 3D objects all at once}, we expressively model the…

We introduce a novel learning-based, visibility-aware, surface reconstruction method for large-scale, defect-laden point clouds. Our approach can cope with the scale and variety of point cloud defects encountered in real-life Multi-View…

Point cloud obtained from 3D scanning is often sparse, noisy, and irregular. To cope with these issues, recent studies have been separately conducted to densify, denoise, and complete inaccurate point cloud. In this paper, we advocate that…

Self-supervised learning has not been fully explored for point cloud analysis. Current frameworks are mainly based on point cloud reconstruction. Given only 3D coordinates, such approaches tend to learn local geometric structures and…

Segmentation in dense visual scenes poses significant challenges due to occlusions, background clutter, and scale variations. To address this, we introduce PerSense, an end-to-end, training-free, and model-agnostic one-shot framework for…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene…

3D Question Answering (3D QA) requires the model to comprehensively understand its situated 3D scene described by the text, then reason about its surrounding environment and answer a question under that situation. However, existing methods…

Multi-instance point cloud registration estimates the poses of multiple instances of a model point cloud in a scene point cloud. Extracting accurate point correspondence is to the center of the problem. Existing approaches usually treat the…

3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…

Point cloud completion is the task of predicting complete geometry from partial observations using a point set representation for a 3D shape. Previous approaches propose neural networks to directly estimate the whole point cloud through…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Reconstructing 3D non-watertight mesh from an unoriented point cloud is an unexplored area in computer vision and computer graphics. In this project, we tried to tackle this problem by extending the learning-based watertight mesh…

In recent years, point cloud perception tasks have been garnering increasing attention. This paper presents the first attempt to estimate 3D human body mesh from sparse LiDAR point clouds. We found that the major challenge in estimating…

3D Cloth modeling and simulation is essential for avatars creation in several fields, such as fashion, entertainment, and animation. Achieving high-quality results is challenging due to the large variability of clothed body especially in…

While there has been significant progress in solving the problems of image pixel labeling, object detection and scene classification, existing approaches normally address them separately. In this paper, we propose to tackle these problems…

Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with…