相关论文: PSNet: Fast Data Structuring for Hierarchical Deep…

Common deep learning models for 3D environment perception often use pillarization/voxelization methods to convert point cloud data into pillars/voxels and then process it with a 2D/3D convolutional neural network (CNN). The pioneer work…

Point clouds are often the default choice for many applications as they exhibit more flexibility and efficiency than volumetric data. Nevertheless, their unorganized nature -- points are stored in an unordered way -- makes them less suited…

Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. Applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the lack of…

Real-world environment-derived point clouds invariably exhibit noise across varying modalities and intensities. Hence, point cloud denoising (PCD) is essential as a preprocessing step to improve downstream task performance. Deep learning…

Data organization via forming local regions is an integral part of deep learning networks that process 3D point clouds in a hierarchical manner. At each level, the point cloud is sampled to extract representative points and these points are…

Scene understanding based on LiDAR point cloud is an essential task for autonomous cars to drive safely, which often employs spherical projection to map 3D point cloud into multi-channel 2D images for semantic segmentation. Most existing…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

To alleviate the cost of collecting and annotating large-scale point cloud datasets, we propose an unsupervised learning approach to learn features from unlabeled point cloud "3D object" dataset by using part contrasting and object…

Geometry and topology constitute complementary descriptors of three-dimensional shape, yet existing benchmark datasets primarily capture geometric information while neglecting topological structure. This work addresses this limitation by…

While several convolution-like operators have recently been proposed for extracting features out of point clouds, down-sampling an unordered point cloud in a deep neural network has not been rigorously studied. Existing methods down-sample…

Over the last decade, the demand for better segmentation and classification algorithms in 3D spaces has significantly grown due to the popularity of new 3D sensor technologies and advancements in the field of robotics. Point-clouds are one…

A key step in any scanning-based asset creation workflow is to convert unordered point clouds to a surface. Classical methods (e.g., Poisson reconstruction) start to degrade in the presence of noisy and partial scans. Hence, deep learning…

Recently, many approaches have been proposed through single or multiple representations to improve the performance of point cloud semantic segmentation. However, these works do not maintain a good balance among performance, efficiency, and…

The rapid development of point cloud learning has driven point cloud completion into a new era. However, the information flows of most existing completion methods are solely feedforward, and high-level information is rarely reused to…

The use of topological descriptors in modern machine learning applications, such as Persistence Diagrams (PDs) arising from Topological Data Analysis (TDA), has shown great potential in various domains. However, their practical use in…

We present a network architecture for processing point clouds that directly operates on a collection of points represented as a sparse set of samples in a high-dimensional lattice. Naively applying convolutions on this lattice scales…

3D building models with facade details are playing an important role in many applications now. Classifying point clouds at facade-level is key to create such digital replicas of the real world. However, few studies have focused on such…

We propose a new supervized learning framework for oversegmenting 3D point clouds into superpoints. We cast this problem as learning deep embeddings of the local geometry and radiometry of 3D points, such that the border of objects presents…

3D point cloud interpretation is a challenging task due to the randomness and sparsity of the component points. Many of the recently proposed methods like PointNet and PointCNN have been focusing on learning shape descriptions from point…

Point clouds obtained with 3D scanners or by image-based reconstruction techniques are often corrupted with significant amount of noise and outliers. Traditional methods for point cloud denoising largely rely on local surface fitting (e.g.,…