相关论文: General Rotation Invariance Learning for Point Clo…

Learning rotation-invariant distinctive features is a fundamental requirement for point cloud registration. Existing methods often use rotation-sensitive networks to extract features, while employing rotation augmentation to learn an…

Point cloud shape completion is a challenging problem in 3D vision and robotics. Existing learning-based frameworks leverage encoder-decoder architectures to recover the complete shape from a highly encoded global feature vector. Though the…

Despite the recent active research on processing point clouds with deep networks, few attention has been on the sensitivity of the networks to rotations. In this paper, we propose a deep learning architecture that achieves discrete…

Existing point cloud learning methods aggregate features from neighbouring points relying on constructing graph in the spatial domain, which results in feature update for each point based on spatially-fixed neighbours throughout layers. In…

Recent attempts at introducing rotation invariance or equivariance in 3D deep learning approaches have shown promising results, but these methods still struggle to reach the performances of standard 3D neural networks. In this work we study…

Point cloud classifiers with rotation robustness have been widely discussed in the 3D deep learning community. Most proposed methods either use rotation invariant descriptors as inputs or try to design rotation equivariant networks.…

Point cloud analysis without pose priors is very challenging in real applications, as the orientations of point clouds are often unknown. In this paper, we propose a brand new point-set learning framework PRIN, namely, Pointwise…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

Despite the progress on 3D point cloud deep learning, most prior works focus on learning features that are invariant to translation and point permutation, and very limited efforts have been devoted for rotation invariant property. Several…

Rigid registration of point clouds is a fundamental problem in computer vision with many applications from 3D scene reconstruction to geometry capture and robotics. If a suitable initial registration is available, conventional methods like…

Point-cloud is an efficient way to represent 3D world. Analysis of point-cloud deals with understanding the underlying 3D geometric structure. But due to the lack of smooth topology, and hence the lack of neighborhood structure, standard…

Modern image encoders achieve high generalization by decoupling semantic meaning from resolution, an ability yet to be fully realized in the 3D domain. We investigate the failure of 3D point cloud encoders to achieve similar generalization…

Although accurate and fast point cloud classification is a fundamental task in 3D applications, it is difficult to achieve this purpose due to the irregularity and disorder of point clouds that make it challenging to achieve effective 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…

Point cloud-based large scale place recognition is an important but challenging task for many applications such as Simultaneous Localization and Mapping (SLAM). Taking the task as a point cloud retrieval problem, previous methods have made…

Learning 3D point sets with rotational invariance is an important and challenging problem in machine learning. Through rotational invariant architectures, 3D point cloud neural networks are relieved from requiring a canonical global pose…

Various recent methods attempt to implement rotation-invariant 3D deep learning by replacing the input coordinates of points with relative distances and angles. Due to the incompleteness of these low-level features, they have to undertake…

We present PPF-FoldNet for unsupervised learning of 3D local descriptors on pure point cloud geometry. Based on the folding-based auto-encoding of well known point pair features, PPF-FoldNet offers many desirable properties: it necessitates…

Directly learning features from the point cloud has become an active research direction in 3D understanding. Existing learning-based methods usually construct local regions from the point cloud and extract the corresponding features.…

Point cloud analysis without pose priors is very challenging in real applications, as the orientations of point clouds are often unknown. In this paper, we propose a brand new point-set learning framework PRIN, namely, Point-wise Rotation…