相关论文: SDFReg: Learning Signed Distance Functions for Poi…

Point cloud segmentation is a fundamental task in 3D. Despite recent progress on point cloud segmentation with the power of deep networks, current learning methods based on the clean label assumptions may fail with noisy labels. Yet, class…

Point cloud registration is the basis for many robotic applications such as odometry and Simultaneous Localization And Mapping (SLAM), which are increasingly important for autonomous mobile robots. Computational resources and power budgets…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

We consider the challenging problem of learning Signed Distance Functions (SDF) from sparse and noisy 3D point clouds. In contrast to recent methods that depend on smoothness priors, our method, rooted in a distributionally robust…

This paper proposes a correspondence-free method for point cloud rotational registration. We learn an embedding for each point cloud in a feature space that preserves the SO(3)-equivariance property, enabled by recent developments in…

We explore a new idea for learning based shape reconstruction from a point cloud, based on the recently popularized implicit neural shape representations. We cast the problem as a few-shot learning of implicit neural signed distance…

We describe in this short note a technique to convert an implicit surface into a Signed Distance Function (SDF) while exactly preserving the zero level-set of the implicit. The proposed approach relies on embedding the input implicit in the…

As a popular geometric representation, point clouds have attracted much attention in 3D vision, leading to many applications in autonomous driving and robotics. One important yet unsolved issue for learning on point cloud is that point…

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…

With current trends in sensors (cheaper, more volume of data) and applications (increasing affordability for new tasks, new ideas in what 3D data could be useful for); there is corresponding increasing interest in the ability to…

We propose a variational functional and fast algorithms to reconstruct implicit surface from point cloud data with a curvature constraint. The minimizing functional balances the distance function from the point cloud and the mean curvature…

Point cloud analysis has a wide range of applications in many areas such as computer vision, robotic manipulation, and autonomous driving. While deep learning has achieved remarkable success on image-based tasks, there are many unique…

We provide a dynamical perspective on the classical problem of 3D point cloud registration with correspondences. A point cloud is considered as a rigid body consisting of particles. The problem of registering two point clouds is formulated…

4D millimeter wave radars (4D radars) are new emerging sensors that provide point clouds of objects with both position and radial velocity measurements. Compared to LiDARs, they are more affordable and reliable sensors for robots'…

The irregularity and permutation invariance of point cloud data pose challenges for effective learning. Conventional methods for addressing this issue involve converting raw point clouds to intermediate representations such as 3D voxel…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

We propose DeepMapping, a novel registration framework using deep neural networks (DNNs) as auxiliary functions to align multiple point clouds from scratch to a globally consistent frame. We use DNNs to model the highly non-convex mapping…

Point cloud learning often rests on the premise that observed samples are noisy traces of an underlying geometric object, such as a manifold embedded in a high-dimensional feature space. Yet much of this geometry is not captured directly by…

In this paper, we introduce PCR-CG: a novel 3D point cloud registration module explicitly embedding the color signals into the geometry representation. Different from previous methods that only use geometry representation, our module is…

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…