相关论文: AdaPoinTr: Diverse Point Cloud Completion with Ada…

Point cloud completion aims to recover missing geometric structures from incomplete 3D scans, which often suffer from occlusions or limited sensor viewpoints. Existing methods typically assume fixed input/output densities or rely on…

Recent advances in multi-modal pre-training methods have shown promising effectiveness in learning 3D representations by aligning multi-modal features between 3D shapes and their corresponding 2D counterparts. However, existing multi-modal…

In this letter, we introduce several algorithms for geometry inpainting of 3D point clouds with large holes. The algorithms are examplar-based: hole filling is performed iteratively using templates near the hole boundary to find the best…

Recent years have witnessed the growth of point cloud based applications because of its realistic and fine-grained representation of 3D objects and scenes. However, it is a challenging problem to compress sparse, unstructured, and…

Recently, a growing number of work design unsupervised paradigms for point cloud processing to alleviate the limitation of expensive manual annotation and poor transferability of supervised methods. Among them, CrossPoint follows the…

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…

In this paper, we propose a simple yet effective method to represent point clouds as sets of samples drawn from a cloud-specific probability distribution. This interpretation matches intrinsic characteristics of point clouds: the number of…

With the prevalence of LiDAR sensors in autonomous driving, 3D object tracking has received increasing attention. In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in consecutive frames…

Point cloud segmentation, which helps us understand the environment of specific structures and objects, can be performed in class-specific and class-agnostic ways. We propose a novel region-based transformer model called Region-Transformer…

Existing point cloud completion methods, which typically depend on predefined synthetic training datasets, encounter significant challenges when applied to out-of-distribution, real-world scans. To overcome this limitation, we introduce a…

We propose octree-based transformers, named OctFormer, for 3D point cloud learning. OctFormer can not only serve as a general and effective backbone for 3D point cloud segmentation and object detection but also have linear complexity and is…

Point cloud completion aims to recover the complete shape based on a partial observation. Existing methods require either complete point clouds or multiple partial observations of the same object for learning. In contrast to previous…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

While deep neural networks have demonstrated remarkable performance across various tasks, they typically require massive training data. Due to the presence of redundancies and biases in real-world datasets, not all data in the training…

Estimating the 6D object pose is an essential task in many applications. Due to the lack of depth information, existing RGB-based methods are sensitive to occlusion and illumination changes. How to extract and utilize the geometry features…

Point cloud compression is a key enabler for the emerging applications of immersive visual communication, autonomous driving and smart cities, etc. In this paper, we propose a hybrid point cloud attribute compression scheme built on an…

Unpaired point cloud completion is crucial for real-world applications, where ground-truth data for complete point clouds are often unavailable. By learning a completion map from unpaired incomplete and complete point cloud data, this task…

Pre-training strategies play a critical role in advancing the performance of transformer-based models for 3D point cloud tasks. In this paper, we introduce Point-RTD (Replaced Token Denoising), a novel pretraining strategy designed to…

3D single object tracking is a key issue for robotics. In this paper, we propose a transformer module called Point-Track-Transformer (PTT) for point cloud-based 3D single object tracking. PTT module contains three blocks for feature…

In many vision and robotics applications, it is common that the captured objects are represented by very few points. Most of the existing completion methods are designed for partial point clouds with many points, and they perform poorly or…