相关论文: E2PN: Efficient SE(3)-Equivariant Point Network

Modern neural architectures for 3D point cloud processing contain both convolutional layers and attention blocks, but the best way to assemble them remains unclear. We analyse the role of different computational blocks in 3D point cloud…

The goal of this paper is to address the problem of global point cloud registration (PCR) i.e., finding the optimal alignment between point clouds irrespective of the initial poses of the scans. This problem is notoriously challenging for…

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…

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…

Learning functions on point clouds has applications in many fields, including computer vision, computer graphics, physics, and chemistry. Recently, there has been a growing interest in neural architectures that are invariant or equivariant…

When classifying point clouds, a large amount of time is devoted to the process of engineering a reliable set of features which are then passed to a classifier of choice. Generally, such features - usually derived from the 3D-covariance…

We introduce FPConv, a novel surface-style convolution operator designed for 3D point cloud analysis. Unlike previous methods, FPConv doesn't require transforming to intermediate representation like 3D grid or graph and directly works on…

In this study, we propose a novel architecture, the Quantum Pointwise Convolution, which incorporates pointwise convolution within a quantum neural network framework. Our approach leverages the strengths of pointwise convolution to…

Group equivariance (e.g. SE(3) equivariance) is a critical physical symmetry in science, from classical and quantum physics to computational biology. It enables robust and accurate prediction under arbitrary reference transformations. In…

We introduce Position Adaptive Convolution (PAConv), a generic convolution operation for 3D point cloud processing. The key of PAConv is to construct the convolution kernel by dynamically assembling basic weight matrices stored in Weight…

Point clouds are an increasingly relevant data type but they are often corrupted by noise. We propose a deep neural network based on graph-convolutional layers that can elegantly deal with the permutation-invariance problem encountered by…

We introduce tensor field neural networks, which are locally equivariant to 3D rotations, translations, and permutations of points at every layer. 3D rotation equivariance removes the need for data augmentation to identify features in…

Rotation-invariance is a desired property of machine-learning models for medical image analysis and in particular for computational pathology applications. We propose a framework to encode the geometric structure of the special Euclidean…

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.…

Deep neural networks have enjoyed remarkable success for various vision tasks, however it remains challenging to apply CNNs to domains lacking a regular underlying structures such as 3D point clouds. Towards this we propose a novel…

Equivariant Transformers such as Equiformer have demonstrated the efficacy of applying Transformers to the domain of 3D atomistic systems. However, they are limited to small degrees of equivariant representations due to their computational…

The analysis of 3D point clouds has diverse applications in robotics, vision and graphics. Processing them presents specific challenges since they are naturally sparse, can vary in spatial resolution and are typically unordered. Graph-based…

We address the problem of fitting a parametric human body model (SMPL) to point cloud data. Optimization-based methods require careful initialization and are prone to becoming trapped in local optima. Learning-based methods address this but…

Point cloud based retrieval for place recognition is still a challenging problem due to drastic appearance and illumination changes of scenes in changing environments. Existing deep learning based global descriptors for the retrieval task…

Large-scale point cloud consists of a multitude of individual objects, thereby encompassing rich structural and underlying semantic contextual information, resulting in a challenging problem in efficiently segmenting a point cloud. Most…