相关论文: Point Cloud Recognition with Position-to-Structure…

The field of 4D point cloud understanding is rapidly developing with the goal of analyzing dynamic 3D point cloud sequences. However, it remains a challenging task due to the sparsity and lack of texture in point clouds. Moreover, the…

Existing LiDAR-based 3D object detectors usually focus on the single-frame detection, while ignoring the spatiotemporal information in consecutive point cloud frames. In this paper, we propose an end-to-end online 3D video object detector…

6D object pose estimation holds essential roles in various fields, particularly in the grasping of industrial workpieces. Given challenges like rust, high reflectivity, and absent textures, this paper introduces a point cloud based pose…

Technology to recognize the type of component represented by a point cloud is required in the reconstruction process of an as-built model of a process plant based on laser scanning. The reconstruction process of a process plant through…

3D point cloud perception remains tightly coupled to custom CUDA operators for spatial operations, limiting portability and efficiency on non-NVIDIA, AMD, and embedded hardware. We introduce PointTransformerX (PTX), a fully PyTorch-native…

Methods for processing point cloud information have seen a great success in collider physics applications. One recent breakthrough in machine learning is the usage of Transformer networks to learn semantic relationships between sequences in…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

The paper presents a learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Existing methods, such as PointNetVLAD, are based on unordered point cloud representation. They use PointNet…

As a popular representation of 3D data, point cloud may contain noise and need to be filtered before use. Existing point cloud filtering methods either cannot preserve sharp features or result in uneven point distribution in the filtered…

With the rapid advancement of technology, 3D data acquisition and utilization have become increasingly prevalent across various fields, including computer vision, robotics, and geospatial analysis. 3D data, captured through methods such as…

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…

Point cloud is a collection of 3D coordinates that are discrete geometric samples of an object's 2D surfaces. Using a low-cost 3D scanner to acquire data means that point clouds are often in lower resolution than desired for rendering on…

Point cloud registration is a crucial problem in computer vision and robotics. Existing methods either rely on matching local geometric features, which are sensitive to the pose differences, or leverage global shapes, which leads to…

We address the problem of learning accurate 3D shape and camera pose from a collection of unlabeled category-specific images. We train a convolutional network to predict both the shape and the pose from a single image by minimizing the…

Despite the progress on 3D point cloud deep learning, most prior works focus on learning features that are invariant to translation and point permutation, and very limited efforts have been devoted for rotation invariant property. Several…

Point cloud processing methods leverage local and global point features %at the feature level to cater to downstream tasks, yet they often overlook the task-level context inherent in point clouds during the encoding stage. We argue that…

Features that are equivariant to a larger group of symmetries have been shown to be more discriminative and powerful in recent studies. However, higher-order equivariant features often come with an exponentially-growing computational cost.…

The recent surge in 3D data acquisition has spurred the development of geometric deep learning models for point cloud processing, boosted by the remarkable success of transformers in natural language processing. While point cloud…

To apply transformer-based models to point cloud understanding, many previous works modify the architecture of transformers by using, e.g., local attention and down-sampling. Although they have achieved promising results, earlier works on…

Automatic synthesis of high quality 3D shapes is an ongoing and challenging area of research. While several data-driven methods have been proposed that make use of neural networks to generate 3D shapes, none of them reach the level of…