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Three-dimensional object recognition has recently achieved great progress thanks to the development of effective point cloud-based learning frameworks, such as PointNet and its extensions. However, existing methods rely heavily on fully…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

Point cloud filtering is a fundamental problem in geometry modeling and processing. Despite of significant advancement in recent years, the existing methods still suffer from two issues: 1) they are either designed without preserving sharp…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

We propose a novel fast and robust 3D point clouds segmentation framework via coupled feature selection, named 3DCFS, that jointly performs semantic and instance segmentation. Inspired by the human scene perception process, we design a…

As a popular geometric representation, point clouds have attracted much attention in 3D vision, leading to many applications in autonomous driving and robotics. One important yet unsolved issue for learning on point cloud is that point…

We present an approach to learning features that represent the local geometry around a point in an unstructured point cloud. Such features play a central role in geometric registration, which supports diverse applications in robotics and 3D…

Edge points on 3D point clouds can clearly convey 3D geometry and surface characteristics, therefore, edge detection is widely used in many vision applications with high industrial and commercial demands. However, the fine-grained edge…

Implicit function based surface reconstruction has been studied for a long time to recover 3D shapes from point clouds sampled from surfaces. Recently, Signed Distance Functions (SDFs) and Occupany Functions are adopted in learning-based…

3D instance segmentation aims to predict a set of object instances in a scene, representing them as binary foreground masks with corresponding semantic labels. Currently, transformer-based methods are gaining increasing attention due to…

Image feature matching is to seek, localize and identify the similarities across the images. The matched local features between different images can indicate the similarities of their content. Resilience of image feature matching to large…

We propose a precise and efficient normal estimation method that can deal with noise and nonuniform density for unstructured 3D point clouds. Unlike existing approaches that directly take patches and ignore the local neighborhood…

We present a new method for the unsupervised detection of geometric anomalies in high-resolution 3D point clouds. In particular, we propose an adaptation of the established student-teacher anomaly detection framework to three dimensions. A…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

Deep Neural Networks (DNNs) for 3D point cloud recognition are vulnerable to adversarial examples, threatening their practical deployment. Despite the many research endeavors have been made to tackle this issue in recent years, the…

Scene understanding based on LiDAR point cloud is an essential task for autonomous cars to drive safely, which often employs spherical projection to map 3D point cloud into multi-channel 2D images for semantic segmentation. Most existing…

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…

Recent years have witnessed the great success of deep learning on various point cloud analysis tasks, e.g., classification and semantic segmentation. Since point cloud data is sparse and irregularly distributed, one key issue for point…

The success of supervised learning requires large-scale ground truth labels which are very expensive, time-consuming, or may need special skills to annotate. To address this issue, many self- or un-supervised methods are developed. Unlike…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…