相关论文: Completing point cloud from few points by Wasserst…

Foundation models for point cloud data have recently grown in capability, often leveraging extensive representation learning from language or vision. In this work, we take a more controlled approach by introducing a lightweight…

Multi-task networks can potentially improve performance and computational efficiency compared to single-task networks, facilitating online deployment. However, current multi-task architectures in point cloud perception combine multiple…

Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…

We introduce RGB2Point, an unposed single-view RGB image to a 3D point cloud generation based on Transformer. RGB2Point takes an input image of an object and generates a dense 3D point cloud. Contrary to prior works based on CNN layers and…

Transformer, as an alternative to CNN, has been proven effective in many modalities (e.g., texts and images). For 3D point cloud transformers, existing efforts focus primarily on pushing their accuracy to the state-of-the-art level.…

Point cloud completion helps restore partial incomplete point clouds suffering occlusions. Current self-supervised methods fail to give high fidelity completion for large objects with missing surfaces and unbalanced distribution of…

In this paper, we present a new method that reformulates point cloud completion as a set-to-set translation problem and design a new model, called PoinTr, which adopts a Transformer encoder-decoder architecture for point cloud completion.…

Point cloud completion is a fundamental yet not well-solved problem in 3D vision. Current approaches often rely on 3D coordinate information and/or additional data (e.g., images and scanning viewpoints) to fill in missing parts. Unlike…

Point clouds data, as one kind of representation of 3D objects, are the most primitive output obtained by 3D sensors. Unlike 2D images, point clouds are disordered and unstructured. Hence it is not straightforward to apply classification…

Completing an unordered partial point cloud is a challenging task. Existing approaches that rely on decoding a latent feature to recover the complete shape, often lead to the completed point cloud being over-smoothing, losing details, and…

Most real-world 3D measurements from depth sensors are incomplete, and to address this issue the point cloud completion task aims to predict the complete shapes of objects from partial observations. Previous works often adapt an…

3D point cloud is an efficient and flexible representation of 3D structures. Recently, neural networks operating on point clouds have shown superior performance on 3D understanding tasks such as shape classification and part segmentation.…

Point cloud obtained from 3D scanning is often sparse, noisy, and irregular. To cope with these issues, recent studies have been separately conducted to densify, denoise, and complete inaccurate point cloud. In this paper, we advocate that…

3D single object tracking is a key task in 3D computer vision. However, the sparsity of point clouds makes it difficult to compute the similarity and locate the object, posing big challenges to the 3D tracker. Previous works tried to solve…

The point cloud based 3D single object tracking has drawn increasing attention. Although many breakthroughs have been achieved, we also reveal two severe issues. By extensive analysis, we find the prediction manner of current approaches is…

Shape completion networks have been used recently in real-world robotic experiments to complete the missing/hidden information in environments where objects are only observed in one or few instances where self-occlusions are bound to occur.…

In this paper, we address the problem of reconstructing an object's surface from a single image using generative networks. First, we represent a 3D surface with an aggregation of dense point clouds from multiple views. Each point cloud is…

Implicit neural networks have emerged as a crucial technology in 3D surface reconstruction. To reconstruct continuous surfaces from discrete point clouds, encoding the input points into regular grid features (plane or volume) has been…

We address the problem of 3D shape completion from sparse and noisy point clouds, a fundamental problem in computer vision and robotics. Recent approaches are either data-driven or learning-based: Data-driven approaches rely on a shape…

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…