相关论文: Improving RGB-D Point Cloud Registration by Learni…

Fusing medical images and the corresponding 3D shape representation can provide complementary information and microstructure details to improve the operational performance and accuracy in brain surgery. However, compared to the substantial…

LiDAR-based 3D object detection and classification is crucial for autonomous driving. However, real-time inference from extremely sparse 3D data is a formidable challenge. To address this problem, a typical class of approaches transforms…

The commonly adopted detect-then-match approach to registration finds difficulties in the cross-modality cases due to the incompatible keypoint detection and inconsistent feature description. We propose, 2D3D-MATR, a detection-free method…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…

Geometrical structures and the internal local region relationship, such as symmetry, regular array, junction, etc., are essential for understanding a 3D shape. This paper proposes a point cloud feature extraction network named PointSCNet,…

We propose a method to learn object representations from 3D point clouds using bundles of geometrically interpretable hidden units, which we call geometric capsules. Each geometric capsule represents a visual entity, such as an object or a…

Aligning partial views of a scene into a single whole is essential to understanding one's environment and is a key component of numerous robotics tasks such as SLAM and SfM. Recent approaches have proposed end-to-end systems that can…

Point cloud registration is a fundamental problem in 3D computer vision, graphics and robotics. For the last few decades, existing registration algorithms have struggled in situations with large transformations, noise, and time constraints.…

Point cloud analysis is very challenging, as the shape implied in irregular points is difficult to capture. In this paper, we propose RS-CNN, namely, Relation-Shape Convolutional Neural Network, which extends regular grid CNN to irregular…

Point cloud, an efficient 3D object representation, has become popular with the development of depth sensing and 3D laser scanning techniques. It has attracted attention in various applications such as 3D tele-presence, navigation for…

Learning and selecting important points on a point cloud is crucial for point cloud understanding in various applications. Most of early methods selected the important points on 3D shapes by analyzing the intrinsic geometric properties of…

Point cloud registration has seen recent success with several learning-based methods that focus on correspondence matching and, as such, optimize only for this objective. Following the learning step of correspondence matching, they evaluate…

3D point cloud segmentation aims to assign semantic labels to individual points in a scene for fine-grained spatial understanding. Existing methods typically adopt data augmentation to alleviate the burden of large-scale annotation.…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Despite the remarkable success of deep learning, an optimal convolution operation on point clouds remains elusive owing to their irregular data structure. Existing methods mainly focus on designing an effective continuous kernel function…

Recent years have witnessed the great success of deep learning on various point cloud analysis tasks, e.g., classification and semantic segmentation. Since point cloud data is sparse and irregularly distributed, one key issue for point…

Graph-based methods have proven to be effective in capturing relationships among points for 3D point cloud analysis. However, these methods often suffer from suboptimal graph structures, particularly due to sparse connections at boundary…

Deep learning-based feature matching has shown great superiority for point cloud registration in the absence of pose priors. Although coarse-to-fine matching approaches are prevalent, the coarse matching of existing methods is typically…

Semantic segmentation on point clouds is critical for 3D scene understanding. However, sparse and irregular point distributions provide limited appearance evidence, making geometry-only features insufficient to distinguish objects with…

Ridge-valley features are important elements of point clouds, as they contain rich surface information. To recognize these features from point clouds, this paper introduces an extreme point distance (EPD) criterion with scale independence.…