相关论文: Implicit and Efficient Point Cloud Completion for …

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…

The deployment of high-accuracy 3D object detection models from point cloud remains a significant challenge due to their substantial computational and memory requirements. To address this, we introduce StripDet, a novel lightweight…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…

Recently Transformer-based models have advanced point cloud understanding by leveraging self-attention mechanisms, however, these methods often overlook latent information in less prominent regions, leading to increased sensitivity to…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…

In this paper, we investigate the combination of voxel-based methods and point-based methods, and propose a novel end-to-end two-stage 3D object detector named SGNet for point clouds scenes. The voxel-based methods voxelize the scene to…

Accurate and reliable tracking of multiple moving objects in 3D space is an essential component of urban scene understanding. This is a challenging task because it requires the assignment of detections in the current frame to the predicted…

Weakly supervised point cloud segmentation, i.e. semantically segmenting a point cloud with only a few labeled points in the whole 3D scene, is highly desirable due to the heavy burden of collecting abundant dense annotations for the model…

This paper investigates the problem of temporally interpolating dynamic 3D point clouds with large non-rigid deformation. We formulate the problem as estimation of point-wise trajectories (i.e., smooth curves) and further reason that…

Recognizing and localizing objects in the 3D space is a crucial ability for an AI agent to perceive its surrounding environment. While significant progress has been achieved with expensive LiDAR point clouds, it poses a great challenge for…

3D single object tracking (3D SOT) in LiDAR point clouds plays a crucial role in autonomous driving. Current approaches all follow the Siamese paradigm based on appearance matching. However, LiDAR point clouds are usually textureless and…

The point clouds collected by the Airborne Laser Scanning (ALS) system provide accurate 3D information of urban land covers. By utilizing multi-temporal ALS point clouds, semantic changes in urban area can be captured, demonstrating…

We present a novel 3D object detection framework, named IPOD, based on raw point cloud. It seeds object proposal for each point, which is the basic element. This paradigm provides us with high recall and high fidelity of information,…

3D reconstruction from single view images is an ill-posed problem. Inferring the hidden regions from self-occluded images is both challenging and ambiguous. We propose a two-pronged approach to address these issues. To better incorporate…

Point transformers have demonstrated remarkable progress in 3D understanding through expanded receptive fields (RF), but further expanding the RF leads to dilution in group attention and decreases detailed feature extraction capability.…

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.…

This work proposes a method for depth completion of sparse LiDAR data using a convolutional neural network which can be used to generate semi-dense depth maps and "almost" full 3D point-clouds with significantly lower root mean squared…

We focus on the problem of class-agnostic instance segmentation of LiDAR point clouds. We propose an approach that combines graph-theoretic search with data-driven learning: it searches over a set of candidate segmentations and returns one…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…