相关论文: Rethinking the compositionality of point clouds th…

Existing position based point cloud filtering methods can hardly preserve sharp geometric features. In this paper, we rethink point cloud filtering from a non-learning non-local non-normal perspective, and propose a novel position based…

Man-made 3D shapes are naturally organized in parts and hierarchies; such structures provide important constraints for shape reconstruction and generation. Modeling shape structures is difficult, because there can be multiple hierarchies…

LiDAR-based 3D sensors provide point clouds, a canonical 3D representation used in various scene understanding tasks. Modern LiDARs face key challenges in several real-world scenarios, such as long-distance or low-albedo objects, producing…

We relate three classes of nonpositively curved metric spaces: hierarchically hyperbolic spaces, coarsely injective spaces, and strongly shortcut spaces. We show that every hierarchically hyperbolic space admits a new metric that is…

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…

This paper focuses on a novel generative approach for 3D point clouds that makes use of invertible flow-based models. The main idea of the method is to treat a point cloud as a probability density in 3D space that is modeled using a…

We propose an approach to instance segmentation from 3D point clouds based on dynamic convolution. This enables it to adapt, at inference, to varying feature and object scales. Doing so avoids some pitfalls of bottom up approaches,…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…

We present a method for finding high density, low-dimensional structures in noisy point clouds. These structures are sets with zero Lebesgue measure with respect to the $D$-dimensional ambient space and belong to a $d<D$ dimensional space.…

The growing size of point clouds enlarges consumptions of storage, transmission, and computation of 3D scenes. Raw data is redundant, noisy, and non-uniform. Therefore, simplifying point clouds for achieving compact, clean, and uniform…

3D point cloud (PC) -- a collection of discrete geometric samples of a physical object's surface -- is typically large in size, which entails expensive subsequent operations like viewpoint image rendering and object recognition. Leveraging…

In this paper we propose a novel point cloud generator that is able to reconstruct and generate 3D point clouds composed of semantic parts. Given a latent representation of the target 3D model, the generation starts from a single point and…

Point cloud completion aims to reconstruct complete 3D shapes from partial observations, which is a challenging problem due to severe occlusions and missing geometry. Despite recent advances in multimodal techniques that leverage…

The process of segmenting point cloud data into several homogeneous areas with points in the same region having the same attributes is known as 3D segmentation. Segmentation is challenging with point cloud data due to substantial…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

We pose 3D scene-understanding as a problem of parsing in a grammar. A grammar helps us capture the compositional structure of real-word objects, e.g., a chair is composed of a seat, a back-rest and some legs. Having multiple rules for an…

Despite encouraging recent progresses in ensemble approaches, classification methods seem to have reached a plateau in development. Further advances depend on a better understanding of geometrical and topological characteristics of point…

We present a system for automatic converting of 2D mask object predictions and raw LiDAR point clouds into full 3D bounding boxes of objects. Because the LiDAR point clouds are partial, directly fitting bounding boxes to the point clouds is…

Contemporary point cloud segmentation approaches largely rely on richly annotated 3D training data. However, it is both time-consuming and challenging to obtain consistently accurate annotations for such 3D scene data. Moreover, there is…

The interest in matching non-rigidly deformed shapes represented as raw point clouds is rising due to the proliferation of low-cost 3D sensors. Yet, the task is challenging since point clouds are irregular and there is a lack of intrinsic…