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

A common dilemma in 3D object detection for autonomous driving is that high-quality, dense point clouds are only available during training, but not testing. We use knowledge distillation to bridge the gap between a model trained on…

Diffusion models are a powerful framework for tackling ill-posed problems, with recent advancements extending their use to point cloud upsampling. Despite their potential, existing diffusion models struggle with inefficiencies as they map…

The semantic understanding of indoor 3D point cloud data is crucial for a range of subsequent applications, including indoor service robots, navigation systems, and digital twin engineering. Global features are crucial for achieving…

Point cloud normal estimation is a fundamental task in 3D geometry processing. While recent learning-based methods achieve notable advancements in normal prediction, they often overlook the critical aspect of equivariance. This results in…

In autonomous driving, 3D object detection is essential for accurately identifying and tracking objects. Despite the continuous development of various technologies for this task, a significant drawback is observed in most of them-they…

Existing normal estimation methods for point clouds are often less robust to severe noise and complex geometric structures. Also, they usually ignore the contributions of different neighbouring points during normal estimation, which leads…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

In many scientific applications, the target probability distribution cannot be evaluated in closed form or sampled from directly. Instead, it can often be decomposed into multiple components, some of which are accessible only through…

Semantic pattern of an object point cloud is determined by its topological configuration of local geometries. Learning discriminative representations can be challenging due to large shape variations of point sets in local regions and…

The digital factory provides undoubtedly a great potential for future production systems in terms of efficiency and effectivity. A key aspect on the way to realize the digital copy of a real factory is the understanding of complex indoor…

Object recognition in 3D point clouds is a challenging task, mainly when time is an important factor to deal with, such as in industrial applications. Local descriptors are an amenable choice whenever the 6 DoF pose of recognized objects…

In recent years, point cloud normal estimation, as a classical and foundational algorithm, has garnered extensive attention in the field of 3D geometric processing. Despite the remarkable performance achieved by current Neural Network-based…

Affordable 3D scanners often produce sparse and non-uniform point clouds that negatively impact downstream applications in robotic systems. While existing point cloud upsampling architectures have demonstrated promising results on standard…

Point cloud semantic segmentation can significantly enhance the perception of an intelligent agent. Nevertheless, the discriminative capability of the segmentation network is influenced by the quantity of samples available for different…

Estimating normals for noisy point clouds is a persistent challenge in 3D geometry processing, particularly for end-to-end oriented normal estimation. Existing methods generally address relatively clean data and rely on supervised priors to…

Pre-training on large-scale unlabeled datasets contribute to the model achieving powerful performance on 3D vision tasks, especially when annotations are limited. However, existing rendering-based self-supervised frameworks are…

3D point cloud-based place recognition is highly demanded by autonomous driving in GPS-challenged environments and serves as an essential component (i.e. loop-closure detection) in lidar-based SLAM systems. This paper proposes a novel…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

This paper presents a robust fine-tuning method designed for pre-trained 3D point cloud models, to enhance feature robustness in downstream fine-tuned models. We highlight the limitations of current fine-tuning methods and the challenges of…

Although Domain Generalization (DG) problem has been fast-growing in the 2D image tasks, its exploration on 3D point cloud data is still insufficient and challenged by more complex and uncertain cross-domain variances with uneven…