相关论文: Composite Convolution: a Flexible Operator for Dee…

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…

A number of problems can be formulated as prediction on graph-structured data. In this work, we generalize the convolution operator from regular grids to arbitrary graphs while avoiding the spectral domain, which allows us to handle graphs…

Convolutional neural networks are constructed with massive operations with different types and are highly computationally intensive. Among these operations, multiplication operation is higher in computational complexity and usually requires…

Point cloud compression (PCC) is a key enabler for various 3-D applications, owing to the universality of the point cloud format. Ideally, 3D point clouds endeavor to depict object/scene surfaces that are continuous. Practically, as a set…

In this paper, we propose a set of transform-based neural network layers as an alternative to the $3\times3$ Conv2D layers in Convolutional Neural Networks (CNNs). The proposed layers can be implemented based on orthogonal transforms such…

Extending the translation equivariance property of convolutional neural networks to larger symmetry groups has been shown to reduce sample complexity and enable more discriminative feature learning. Further, exploiting additional symmetries…

The semantic segmentation of point clouds is an important part of the environment perception for robots. However, it is difficult to directly adopt the traditional 3D convolution kernel to extract features from raw 3D point clouds because…

Recently, various convolutions based on continuous or discrete kernels for point cloud processing have been widely studied, and achieve impressive performance in many applications, such as shape classification, scene segmentation and so on.…

Convolutional neural networks (CNNs) have demonstrated their capability to solve different kind of problems in a very huge number of applications. However, CNNs are limited for their computational and storage requirements. These limitations…

This paper proposes a computationally efficient approach to detecting objects natively in 3D point clouds using convolutional neural networks (CNNs). In particular, this is achieved by leveraging a feature-centric voting scheme to implement…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…

A number of recent studies have shown that a Deep Convolutional Neural Network (DCNN) pretrained on a large dataset can be adopted as a universal image description which leads to astounding performance in many visual classification tasks.…

The existing 3D deep learning methods adopt either individual point-based features or local-neighboring voxel-based features, and demonstrate great potential for processing 3D data. However, the point based models are inefficient due to the…

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…

Traditionally, deep convolutional neural networks consist of a series of convolutional and pooling layers followed by one or more fully connected (FC) layers to perform the final classification. While this design has been successful, for…

We propose a neural network for 3D point cloud processing that exploits `spherical' convolution kernels and octree partitioning of space. The proposed metric-based spherical kernels systematically quantize point neighborhoods to identify…

Conventional methods of 3D object generative modeling learn volumetric predictions using deep networks with 3D convolutional operations, which are direct analogies to classical 2D ones. However, these methods are computationally wasteful in…

We present an approach to semantic scene analysis using deep convolutional networks. Our approach is based on tangent convolutions - a new construction for convolutional networks on 3D data. In contrast to volumetric approaches, our method…

We propose a deep autoencoder with graph topology inference and filtering to achieve compact representations of unorganized 3D point clouds in an unsupervised manner. Many previous works discretize 3D points to voxels and then use…

We present a simple and general framework for feature learning from point clouds. The key to the success of CNNs is the convolution operator that is capable of leveraging spatially-local correlation in data represented densely in grids…