相关论文: SE-ORNet: Self-Ensembling Orientation-aware Networ…

Point clouds have attracted increasing attention. Significant progress has been made in methods for point cloud analysis, which often requires costly human annotation as supervision. To address this issue, we propose a novel…

Point clouds collected by real-world sensors are always unaligned and sparse, which makes it hard to reconstruct the complete shape of object from a single frame of data. In this work, we manage to provide complete point clouds from sparse…

We address the problem of learning accurate 3D shape and camera pose from a collection of unlabeled category-specific images. We train a convolutional network to predict both the shape and the pose from a single image by minimizing the…

Recently developed deep learning models are able to learn to segment scenes into component objects without supervision. This opens many new and exciting avenues of research, allowing agents to take objects (or entities) as inputs, rather…

Registering urban point clouds is a quite challenging task due to the large-scale, noise and data incompleteness of LiDAR scanning data. In this paper, we propose SARNet, a novel semantic augmented registration network aimed at achieving…

We propose Point-PNG, a novel self-supervised learning framework that generates conditional pseudo-negatives in the latent space to learn point cloud representations that are both discriminative and transformation-sensitive. Conventional…

Point clouds upsampling is a challenging issue to generate dense and uniform point clouds from the given sparse input. Most existing methods either take the end-to-end supervised learning based manner, where large amounts of pairs of sparse…

Category-level articulated object pose estimation focuses on the pose estimation of unknown articulated objects within known categories. Despite its significance, this task remains challenging due to the varying shapes and poses of objects,…

Although unsupervised feature learning has demonstrated its advantages to reducing the workload of data labeling and network design in many fields, existing unsupervised 3D learning methods still cannot offer a generic network for various…

In this work, we propose to learn local descriptors for point clouds in a self-supervised manner. In each iteration of the training, the input of the network is merely one unlabeled point cloud. On top of our previous work, that directly…

Geometrical structures and the internal local region relationship, such as symmetry, regular array, junction, etc., are essential for understanding a 3D shape. This paper proposes a point cloud feature extraction network named PointSCNet,…

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…

This paper addresses the problem of establishing semantic correspondences between images depicting different instances of the same object or scene category. Previous approaches focus on either combining a spatial regularizer with…

Predicting the future can significantly improve the safety of intelligent vehicles, which is a key component in autonomous driving. 3D point clouds accurately model 3D information of surrounding environment and are crucial for intelligent…

The ability to predict future structure features of environments based on past perception information is extremely needed by autonomous vehicles, which helps to make the following decision-making and path planning more reasonable. Recently,…

Unsupervised point cloud completion aims at estimating the corresponding complete point cloud of a partial point cloud in an unpaired manner. It is a crucial but challenging problem since there is no paired partial-complete supervision that…

Post-disaster damage assessment requires rapid and accurate semantic segmentation of 3D point clouds to identify critical infrastructure such as damaged buildings and roads. Early Point Transformers (e.g., PTv1, PTv2) relied on…

We present a self-supervised task on point clouds, in order to learn meaningful point-wise features that encode local structure around each point. Our self-supervised network, named MortonNet, operates directly on unstructured/unordered…

Learning new representations of 3D point clouds is an active research area in 3D vision, as the order-invariant point cloud structure still presents challenges to the design of neural network architectures. Recent works explored learning…

Semantic analyses of object point clouds are largely driven by releasing of benchmarking datasets, including synthetic ones whose instances are sampled from object CAD models. However, learning from synthetic data may not generalize to…