相关论文: Boosting 3D Point Cloud Registration by Transferri…

Point cloud registration is a key task in many computational fields. Previous correspondence matching based methods require the inputs to have distinctive geometric structures to fit a 3D rigid transformation according to point-wise sparse…

3D object recognition has attracted wide research attention in the field of multimedia and computer vision. With the recent proliferation of deep learning, various deep models with different representations have achieved the…

The success of deep learning methods led to significant breakthroughs in 3-D point cloud processing tasks with applications in remote sensing. Existing methods utilize convolutions that have some limitations, as they assume a uniform input…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

We propose a method for generalizing deep learning for 3D point cloud registration on new, totally different datasets. It is based on two components, MS-SVConv and UDGE. Using Multi-Scale Sparse Voxel Convolution, MS-SVConv is a fast deep…

Arguably one of the top success stories of deep learning is transfer learning. The finding that pre-training a network on a rich source set (eg., ImageNet) can help boost performance once fine-tuned on a usually much smaller target set, has…

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…

Semantic segmentation of 3D point cloud data often comes with high annotation costs. Active learning automates the process of selecting which data to annotate, reducing the total amount of annotation needed to achieve satisfactory…

Point cloud registration sits at the core of many important and challenging 3D perception problems including autonomous navigation, SLAM, object/scene recognition, and augmented reality. In this paper, we present a new registration…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

The current state-of-the-art methods in 3D instance segmentation typically involve a clustering step, despite the tendency towards heuristics, greedy algorithms, and a lack of robustness to the changes in data statistics. In contrast, we…

In this paper we explore the recent topic of point cloud completion, guided by an auxiliary image. We show how it is possible to effectively combine the information from the two modalities in a localized latent space, thus avoiding the need…

In this paper, we propose enhancing monocular depth estimation by adding 3D points as depth guidance. Unlike existing depth completion methods, our approach performs well on extremely sparse and unevenly distributed point clouds, which…

Data augmentation is a powerful technique to enhance the performance of a deep learning task but has received less attention in 3D deep learning. It is well known that when 3D shapes are sparsely represented with low point density, the…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

Change detection from traditional \added{2D} optical images has limited capability to model the changes in the height or shape of objects. Change detection using 3D point cloud \added{from photogrammetry or LiDAR surveying} can fill this…

Deep learning on point clouds has made a lot of progress recently. Many point cloud dedicated deep learning frameworks, such as PointNet and PointNet++, have shown advantages in accuracy and speed comparing to those using traditional 3D…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

The development of practical applications, such as autonomous driving and robotics, has brought increasing attention to 3D point cloud understanding. While deep learning has achieved remarkable success on image-based tasks, there are many…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…