相关论文: Full Point Encoding for Local Feature Aggregation …

Point clouds provide a flexible geometric representation suitable for countless applications in computer graphics; they also comprise the raw output of most 3D data acquisition devices. While hand-designed features on point clouds have long…

Multi-Layer Perceptron (MLP) models are the foundation of contemporary point cloud processing. However, their complex network architectures obscure the source of their strength and limit the application of these models. In this article, we…

The recent success of neural networks enables a better interpretation of 3D point clouds, but processing a large-scale 3D scene remains a challenging problem. Most current approaches divide a large-scale scene into small regions and combine…

We present a novel algorithm for point cloud segmentation. Our approach transforms unstructured point clouds into regular voxel grids, and further uses a kernel-based interpolated variational autoencoder (VAE) architecture to encode the…

This work presents FG-Net, a general deep learning framework for large-scale point clouds understanding without voxelizations, which achieves accurate and real-time performance with a single NVIDIA GTX 1080 GPU. First, a novel noise and…

Learning for manipulation requires using policies that have access to rich sensory information such as point clouds or RGB images. Point clouds efficiently capture geometric structures, making them essential for manipulation tasks in…

Place recognition is an important task for robots and autonomous cars to localize themselves and close loops in pre-built maps. While single-modal sensor-based methods have shown satisfactory performance, cross-modal place recognition that…

Point cloud analysis is the cornerstone of many downstream tasks, among which aggregating local structures is the basis for understanding point cloud data. While numerous works aggregate neighbor using three-dimensional relative…

Point cloud based retrieval for place recognition is an emerging problem in vision field. The main challenge is how to find an efficient way to encode the local features into a discriminative global descriptor. In this paper, we propose a…

Recent works on 6D object pose estimation focus on learning keypoint correspondences between images and object models, and then determine the object pose through RANSAC-based algorithms or by directly regressing the pose with end-to-end…

The core for tackling the fine-grained visual categorization (FGVC) is to learn subtle yet discriminative features. Most previous works achieve this by explicitly selecting the discriminative parts or integrating the attention mechanism via…

Efficient point cloud compression is fundamental to enable the deployment of virtual and mixed reality applications, since the number of points to code can range in the order of millions. In this paper, we present a novel data-driven…

We present a Multimodal Interlaced Transformer (MIT) that jointly considers 2D and 3D data for weakly supervised point cloud segmentation. Research studies have shown that 2D and 3D features are complementary for point cloud segmentation.…

With the increasing demand of capturing our environment in three-dimensions for AR/ VR applications and autonomous driving among others, the importance of high-resolution point clouds rises. As the capturing process is a complex task, point…

Point cloud compression is essential to experience volumetric multimedia as it drastically reduces the required streaming data rates. Point attributes, specifically colors, extend the challenge of lossy compression beyond geometric…

Statistical Shape Modeling (SSM) is a valuable tool for investigating and quantifying anatomical variations within populations of anatomies. However, traditional correspondence-based SSM generation methods have a prohibitive inference…

The manual annotation for large-scale point clouds is still tedious and unavailable for many harsh real-world tasks. Self-supervised learning, which is used on raw and unlabeled data to pre-train deep neural networks, is a promising…

We introduce a novel technique for neural point cloud consolidation which learns from only the input point cloud. Unlike other point upsampling methods which analyze shapes via local patches, in this work, we learn from global subsets. We…

As two fundamental representation modalities of 3D objects, 3D point clouds and multi-view 2D images record shape information from different domains of geometric structures and visual appearances. In the current deep learning era,…

Efficient point cloud compression is essential for applications like virtual and mixed reality, autonomous driving, and cultural heritage. This paper proposes a deep learning-based inter-frame encoding scheme for dynamic point cloud…