相关论文: Window Normalization: Enhancing Point Cloud Unders…

We introduce a novel framework for multiway point cloud mosaicking (named Wednesday), designed to co-align sets of partially overlapping point clouds -- typically obtained from 3D scanners or moving RGB-D cameras -- into a unified…

Given the rapid development of 3D scanners, point clouds are becoming popular in AI-driven machines. However, point cloud data is inherently sparse and irregular, causing significant difficulties for machine perception. In this work, we…

Weakly supervised point cloud semantic segmentation methods that require 1\% or fewer labels, hoping to realize almost the same performance as fully supervised approaches, which recently, have attracted extensive research attention. A…

Generative diffusion models have shown empirical successes in point cloud resampling, generating a denser and more uniform distribution of points from sparse or noisy 3D point clouds by progressively refining noise into structure. However,…

To reduce cost in storing, processing and visualizing a large-scale point cloud, we consider a randomized resampling strategy to select a representative subset of points while preserving application-dependent features. The proposed strategy…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Spatial and channel re-calibration have become powerful concepts in computer vision. Their ability to capture long-range dependencies is especially useful for those networks that extract local features, such as CNNs. While re-calibration…

As 3D scanning devices and depth sensors mature, point clouds have attracted increasing attention as a format for 3D object representation, with applications in various fields such as tele-presence, navigation and heritage reconstruction.…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…

Point cloud analysis has evolved with diverse network architectures, while existing works predominantly focus on introducing novel structural designs. However, conventional point-based architectures - processing raw points through…

State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…

This paper presents an effective normal estimation method adopting multi-patch stitching for an unstructured point cloud. The majority of learning-based approaches encode a local patch around each point of a whole model and estimate the…

Existing deep learning methods for the reconstruction and denoising of point clouds rely on small datasets of 3D shapes. We circumvent the problem by leveraging deep learning methods trained on billions of images. We propose a method to…

Diffusion models are rapidly redefining 3D anomaly detection in point cloud data. As 3D sensing becomes integral to modern manufacturing, reliable anomaly detection is essential for high-throughput quality assurance and process control. Yet…

In this paper, we propose a normal estimation method for unstructured 3D point clouds. This method, called Nesti-Net, builds on a new local point cloud representation which consists of multi-scale point statistics (MuPS), estimated on a…

Large-scale datasets are usually required to train deep neural networks, but it increases the computational complexity hindering the practical applications. Recently, dataset distillation for images and texts has been attracting a lot of…

Driven by the increasing demand for accurate and efficient representation of 3D data in various domains, point cloud sampling has emerged as a pivotal research topic in 3D computer vision. Recently, learning-to-sample methods have garnered…

State-of-the-art methods for large-scale driving-scene LiDAR segmentation often project the point clouds to 2D space and then process them via 2D convolution. Although this corporation shows the competitiveness in the point cloud, it…

The recent success of pre-trained 2D vision models is mostly attributable to learning from large-scale datasets. However, compared with 2D image datasets, the current pre-training data of 3D point cloud is limited. To overcome this…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…