相关论文: HybridPoint: Point Cloud Registration Based on Hyb…

Rigid registration of point clouds with partial overlaps is a longstanding problem usually solved in two steps: (a) finding correspondences between the point clouds; (b) filtering these correspondences to keep only the most reliable ones to…

Estimating the complete 3D point cloud from an incomplete one is a key problem in many vision and robotics applications. Mainstream methods (e.g., PCN and TopNet) use Multi-layer Perceptrons (MLPs) to directly process point clouds, which…

3D point cloud semantic segmentation is one of the fundamental tasks for environmental understanding. Although significant progress has been made in recent years, the performance of classes with few examples or few points is still far from…

3D point cloud models are widely applied in safety-critical scenes, which delivers an urgent need to obtain more solid proofs to verify the robustness of models. Existing verification method for point cloud model is time-expensive and…

Point cloud registration involves determining a rigid transformation to align a source point cloud with a target point cloud. This alignment is fundamental in applications such as autonomous driving, robotics, and medical imaging, where…

Existing point cloud modeling datasets primarily express the modeling precision by pose or trajectory precision rather than the point cloud modeling effect itself. Under this demand, we first independently construct a set of LiDAR system…

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention, but ignore their content and fail to establish relationships…

3D landmark detection plays a pivotal role in various applications such as 3D registration, pose estimation, and virtual try-on. While considerable success has been achieved in 2D human landmark detection or pose estimation, there is a…

We introduce a novel framework for multiway point cloud mosaicking (named Wednesday), designed to co-align sets of partially overlapping point clouds -- typically obtained from 3D scanners or moving RGB-D cameras -- into a unified…

The majority of point cloud registration methods currently rely on extracting features from points. However, these methods are limited by their dependence on information obtained from a single modality of points, which can result in…

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…

Point clouds registration is a fundamental step of many point clouds processing pipelines; however, most algorithms are tested on data that are collected ad-hoc and not shared with the research community. These data often cover only a very…

Point cloud registration approaches often fail when the overlap between point clouds is low due to noisy point correspondences. This work introduces a novel cross-attention mechanism tailored for Transformer-based architectures that tackles…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

3D point cloud classification requires distinct models from 2D image classification due to the divergent characteristics of the respective input data. While 3D point clouds are unstructured and sparse, 2D images are structured and dense.…

Cloud-edge collaboration enhances machine perception by combining the strengths of edge and cloud computing. Edge devices capture raw data (e.g., 3D point clouds) and extract salient features, which are sent to the cloud for deeper analysis…

Point cloud completion aims to generate a complete and high-fidelity point cloud from an initially incomplete and low-quality input. A prevalent strategy involves leveraging Transformer-based models to encode global features and facilitate…

A generative model for high-fidelity point clouds is of great importance in synthesizing 3d environments for applications such as autonomous driving and robotics. Despite the recent success of deep generative models for 2d images, it is…

Multi-view point cloud registration is fundamental in 3D reconstruction. Since there are close connections between point clouds captured from different viewpoints, registration performance can be enhanced if these connections be harnessed…