相关论文: PCV: A Point Cloud-Based Network Verifier

With the popularity of 3D sensors in self-driving and other robotics applications, extensive research has focused on designing novel neural network architectures for accurate 3D point cloud completion. However, unlike in point cloud…

In this study, we present an analysis of model-based ensemble learning for 3D point-cloud object classification and detection. An ensemble of multiple model instances is known to outperform a single model instance, but there is little study…

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…

With the tide of artificial intelligence, we try to apply deep learning to understand 3D data. Point cloud is an important 3D data structure, which can accurately and directly reflect the real world. In this paper, we propose a simple and…

Point cloud data from 3D LiDAR sensors are one of the most crucial sensor modalities for versatile safety-critical applications such as self-driving vehicles. Since the annotations of point cloud data is an expensive and time-consuming…

Point clouds are a basic data type that is increasingly of interest as 3D content becomes more ubiquitous. Applications using point clouds include virtual, augmented, and mixed reality and autonomous driving. We propose a more efficient…

This study investigates the application of PointNet and PointNet++ in the classification of LiDAR-generated point cloud data, a critical component for achieving fully autonomous vehicles. Utilizing a modified dataset from the Lyft 3D Object…

3D object detection plays an important role in a large number of real-world applications. It requires us to estimate the localizations and the orientations of 3D objects in real scenes. In this paper, we present a new network architecture…

Recent developments in the field of deep learning for 3D data have demonstrated promising potential for end-to-end learning directly from point clouds. However, many real-world point clouds contain a large class im-balance due to the…

Most existing 3D point cloud object detection approaches heavily rely on large amounts of labeled training data. However, the labeling process is costly and time-consuming. This paper considers few-shot 3D point cloud object detection,…

3D deep models consuming point clouds have achieved sound application effects in computer vision. However, recent studies have shown they are vulnerable to 3D adversarial point clouds. In this paper, we regard these malicious point clouds…

The real-world applications of 3D point clouds have been growing rapidly in recent years, but not much effective work has been dedicated to perceptual quality assessment of colored 3D point clouds. In this work, we first build a large 3D…

In recent years, the challenge of 3D shape analysis within point cloud data has gathered significant attention in computer vision. Addressing the complexities of effective 3D information representation and meaningful feature extraction for…

Features that are equivariant to a larger group of symmetries have been shown to be more discriminative and powerful in recent studies. However, higher-order equivariant features often come with an exponentially-growing computational cost.…

Accurate 3D geometry acquisition is essential for a wide range of applications, such as computer graphics, autonomous driving, robotics, and augmented reality. However, raw point clouds acquired in real-world environments are often…

Although 3D point cloud classification has recently been widely deployed in different application scenarios, it is still very vulnerable to adversarial attacks. This increases the importance of robust training of 3D models in the face of…

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…

Current methodologies in point cloud analysis predominantly explore 3D geometries, often achieved through the introduction of intricate learnable geometric extractors in the encoder or by deepening networks with repeated blocks. However,…

Point clouds are the native output of many real-world 3D sensors. To borrow the success of 2D convolutional network architectures, a majority of popular 3D perception models voxelize the points, which can result in a loss of local geometric…

Robust environment perception is critical for autonomous cars, and adversarial defenses are the most effective and widely studied ways to improve the robustness of environment perception. However, all of previous defense methods decrease…