相关论文: Point Cloud Quality Assessment using 3D Saliency M…

Saliency map estimation in computer vision aims to estimate the locations where people gaze in images. Since people tend to look at objects in images, the parameters of the model pretrained on ImageNet for image classification are useful…

Point cloud synthesis, i.e. the generation of novel point clouds from an input distribution, remains a challenging task, for which numerous complex machine learning models have been devised. We develop a novel method that encodes…

In recent years, Convolutional Neural Networks (CNN) have proven to be efficient analysis tools for processing point clouds, e.g., for reconstruction, segmentation and classification. In this paper, we focus on the classification of edges…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Recent state-of-the-art methods for point cloud processing are based on the notion of point convolution, for which several approaches have been proposed. In this paper, inspired by discrete convolution in image processing, we provide a…

Point cloud upsampling is essential for high-quality augmented reality, virtual reality, and telepresence applications, due to the capture, processing, and communication limitations of existing technologies. Although geometry upsampling to…

We present Topological Point Cloud Clustering (TPCC), a new method to cluster points in an arbitrary point cloud based on their contribution to global topological features. TPCC synthesizes desirable features from spectral clustering and…

A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…

Point cloud registration (PCR) is crucial for many downstream tasks, such as simultaneous localization and mapping (SLAM) and object tracking. This makes detecting and quantifying registration misalignment, i.e., PCR quality validation, an…

Designing a point cloud upsampler, which aims to generate a clean and dense point cloud given a sparse point representation, is a fundamental and challenging problem in computer vision. A line of attempts achieves this goal by establishing…

Point cloud completion aims to reconstruct complete shapes from partial observations. Although current methods have achieved remarkable performance, they still have some limitations: Supervised methods heavily rely on ground truth, which…

Point cloud analysis is the cornerstone of many downstream tasks, among which aggregating local structures is the basis for understanding point cloud data. While numerous works aggregate neighbor using three-dimensional relative…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

In recent years, parametric representations of point clouds have been widely applied in tasks such as memory-efficient mapping and multi-robot collaboration. Highly adaptive models, like spline surfaces or quadrics, are computationally…

Point cloud classification is an essential component in many security-critical applications such as autonomous driving and augmented reality. However, point cloud classifiers are vulnerable to adversarially perturbed point clouds. Existing…

The human visual system pays attention to salient regions while perceiving an image. When viewing a stereoscopic 3D (S3D) image, we hypothesize that while most of the contribution to saliency is provided by the 2D image, a small but…

Point clouds acquired from scanning devices are often perturbed by noise, which affects downstream tasks such as surface reconstruction and analysis. The distribution of a noisy point cloud can be viewed as the distribution of a set of…

Judging the quality of samples synthesized by generative models can be tedious and time consuming, especially for complex data structures, such as point clouds. This paper presents a novel approach to quantify the realism of local regions…

Established sampling protocols for 3D point cloud learning, such as Farthest Point Sampling (FPS) and Fixed Sample Size (FSS), have long been relied upon. However, real-world data often suffer from corruptions, such as sensor noise, which…

Extracting high-level structural information from 3D point clouds is challenging but essential for tasks like urban planning or autonomous driving requiring an advanced understanding of the scene at hand. Existing approaches are still not…