相关论文: GeoSpark: Sparking up Point Cloud Segmentation wit…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Point cloud segmentation (PCS) aims to make per-point predictions and enables robots and autonomous driving cars to understand the environment. The range image is a dense representation of a large-scale outdoor point cloud, and segmentation…

This paper introduces a new hybrid descriptor for 3D point matching and point cloud registration, combining local geometrical properties and learning-based feature propagation for each point's neighborhood structure description. The…

We propose a new approach for 3D instance segmentation based on sparse convolution and point affinity prediction, which indicates the likelihood of two points belonging to the same instance. The proposed network, built upon submanifold…

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…

Ground segmentation, as the basic task of unmanned intelligent perception, provides an important support for the target detection task. Unstructured road scenes represented by open-pit mines have irregular boundary lines and uneven road…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

Despite considerable progress being achieved in point cloud geometry compression, there still remains a challenge in effectively compressing large-scale scenes with sparse surfaces. Another key challenge lies in reducing decoding latency, a…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

Domain generalization in 3D segmentation is a critical challenge in deploying models to unseen environments. Current methods mitigate the domain shift by augmenting the data distribution of point clouds. However, the model learns global…

This paper studies point cloud perception within outdoor environments. Existing methods face limitations in recognizing objects located at a distance or occluded, due to the sparse nature of outdoor point clouds. In this work, we observe a…

Existing fully-supervised point cloud segmentation methods suffer in the dynamic testing environment with emerging new classes. Few-shot point cloud segmentation algorithms address this problem by learning to adapt to new classes at the…

Mixed-based point cloud augmentation is a popular solution to the problem of limited availability of large-scale public datasets. But the mismatch between mixed points and corresponding semantic labels hinders the further application in…

Deep learning approaches have made tremendous progress in the field of semantic segmentation over the past few years. However, most current approaches operate in the 2D image space. Direct semantic segmentation of unstructured 3D point…

In recent years, point cloud upsampling has been widely applied in tasks such as 3D reconstruction and object recognition. This study proposed a novel framework, ReLPU, which enhances upsampling performance by explicitly learning from both…

The demand for high-resolution point clouds has increased throughout the last years. However, capturing high-resolution point clouds is expensive and thus, frequently replaced by upsampling of low-resolution data. Most state-of-the-art…

Recent years have witnessed the growth of point cloud based applications because of its realistic and fine-grained representation of 3D objects and scenes. However, it is a challenging problem to compress sparse, unstructured, and…

Unsupervised point cloud segmentation is critical for embodied artificial intelligence and autonomous driving, as it mitigates the prohibitive cost of dense point-level annotations required by fully supervised methods. While integrating 2D…

LiDAR-based 3D detection has made great progress in recent years. However, the performance of 3D detectors is considerably limited when deployed in unseen environments, owing to the severe domain gap problem. Existing domain adaptive 3D…

Ground segmentation of point clouds remains challenging because of the sparse and unordered data structure. This paper proposes the GSECnet - Ground Segmentation network for Edge Computing, an efficient ground segmentation framework of…