相关论文: PointNorm-Net: Self-Supervised Normal Prediction o…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

Masked autoencoding has achieved great success for self-supervised learning in the image and language domains. However, mask based pretraining has yet to show benefits for point cloud understanding, likely due to standard backbones like…

Understanding dynamic 3D environment is crucial for robotic agents and many other applications. We propose a novel neural network architecture called $MeteorNet$ for learning representations for dynamic 3D point cloud sequences. Different…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

In recent years, deep learning-based point cloud normal estimation has made great progress. However, existing methods mainly rely on the PCPNet dataset, leading to overfitting. In addition, the correlation between point clouds with…

Deep neural networks have established themselves as the state-of-the-art methodology in almost all computer vision tasks to date. But their application to processing data lying on non-Euclidean domains is still a very active area of…

Deep learning techniques for point clouds have achieved strong performance on a range of 3D vision tasks. However, it is costly to annotate large-scale point sets, making it critical to learn generalizable representations that can transfer…

The task of point cloud upsampling aims to acquire dense and uniform point sets from sparse and irregular point sets. Although significant progress has been made with deep learning models, state-of-the-art methods require ground-truth dense…

Recently, Spiking Neural Networks (SNNs), enjoying extreme energy efficiency, have drawn much research attention on 2D visual recognition and shown gradually increasing application potential. However, it still remains underexplored whether…

Among 2D convolutional networks on point clouds, point-based approaches consume point clouds of fixed size directly. By analysis of PointNet, a pioneer in introducing deep learning into point sets, we reveal that current point-based methods…

Recently, 3D anomaly detection, a crucial problem involving fine-grained geometry discrimination, is getting more attention. However, the lack of abundant real 3D anomaly data limits the scalability of current models. To enable scalable…

Point cloud filtering, the main bottleneck of which is removing noise (outliers) while preserving geometric features, is a fundamental problem in 3D field. The two-step schemes involving normal estimation and position update have been shown…

3D point clouds are a crucial type of data collected by LiDAR sensors and widely used in transportation applications due to its concise descriptions and accurate localization. Deep neural networks (DNNs) have achieved remarkable success in…

Estimating surface normals from 3D point clouds is critical for various applications, including surface reconstruction and rendering. While existing methods for normal estimation perform well in regions where normals change slowly, they…

Point cloud data have been widely explored due to its superior accuracy and robustness under various adverse situations. Meanwhile, deep neural networks (DNNs) have achieved very impressive success in various applications such as…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

The increased availability of massive point clouds coupled with their utility in a wide variety of applications such as robotics, shape synthesis, and self-driving cars has attracted increased attention from both industry and academia.…

Self-supervised learning has not been fully explored for point cloud analysis. Current frameworks are mainly based on point cloud reconstruction. Given only 3D coordinates, such approaches tend to learn local geometric structures and…

Diffusion-based models, widely used in text-to-image generation, have proven effective in 2D representation learning. Recently, this framework has been extended to 3D self-supervised learning by constructing a conditional point generator…

Anomaly detection based on 3D point cloud data is an important research problem and receives more and more attention recently. Untrained anomaly detection based on only one sample is an emerging research problem motivated by real…