相关论文: PCR-CG: Point Cloud Registration via Deep Explicit…

Accurate 3D object detection and understanding for self-driving cars heavily relies on LiDAR point clouds, necessitating large amounts of labeled data to train. In this work, we introduce an innovative pre-training approach, Grounded Point…

Motivated by the intuition that the critical step of localizing a 2D image in the corresponding 3D point cloud is establishing 2D-3D correspondence between them, we propose the first feature-based dense correspondence framework for…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

As a popular geometric representation, point clouds have attracted much attention in 3D vision, leading to many applications in autonomous driving and robotics. One important yet unsolved issue for learning on point cloud is that point…

This paper addresses the task of estimating the 6 degrees of freedom pose of a known 3D object from depth information represented by a point cloud. Deep features learned by convolutional neural networks from color information have been the…

Point clouds (PCs) are a powerful 3D visual representation paradigm for many emerging application domains, especially virtual and augmented reality, and autonomous vehicles. However, the large amount of PC data required for highly immersive…

We present a novel graph-neural-network-based system to effectively represent large-scale 3D point clouds with the applications to autonomous driving. Many previous works studied the representations of 3D point clouds based on two…

We study the problem of attribute compression for large-scale unstructured 3D point clouds. Through an in-depth exploration of the relationships between different encoding steps and different attribute channels, we introduce a deep…

Since the data volume of LiDAR point clouds is very huge, efficient compression is necessary to reduce their storage and transmission costs. However, existing learning-based compression methods do not exploit the inherent angular resolution…

Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed,…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

Detecting pedestrians is a crucial task in autonomous driving systems to ensure the safety of drivers and pedestrians. The technologies involved in these algorithms must be precise and reliable, regardless of environment conditions. Relying…

Point clouds are a 3D space representation of an environment that was recorded with a high precision laser scanner. These scanners can suffer from environmental interference such as surface shading, texturing, and reflections. Because of…

Inspired by the recent PointHop classification method, an unsupervised 3D point cloud registration method, called R-PointHop, is proposed in this work. R-PointHop first determines a local reference frame (LRF) for every point using its…

Unlike on images, semantic learning on 3D point clouds using a deep network is challenging due to the naturally unordered data structure. Among existing works, PointNet has achieved promising results by directly learning on point sets.…

Implicit Neural Point Cloud (INPC) is a recent hybrid representation that combines the expressiveness of neural fields with the efficiency of point-based rendering, achieving state-of-the-art image quality in novel view synthesis. However,…

An effective 3D descriptor should be invariant to different geometric transformations, such as scale and rotation, robust to occlusions and clutter, and capable of generalising to different application domains. We present a simple yet…

We present a new point-based approach for modeling the appearance of real scenes. The approach uses a raw point cloud as the geometric representation of a scene, and augments each point with a learnable neural descriptor that encodes local…

Point cloud completion aims to recover accurate global geometry and preserve fine-grained local details from partial point clouds. Conventional methods typically predict unseen points directly from 3D point cloud coordinates or use…

Point cloud segmentation is the foundation of 3D environmental perception for modern intelligent systems. To solve this problem and image segmentation, conditional random fields (CRFs) are usually formulated as discrete models in label…