相关论文: Variational Relational Point Completion Network fo…

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…

Visual perspective taking (VPT) is the ability to perceive and reason about the perspectives of others. It is an essential feature of human intelligence, which develops over the first decade of life and requires an ability to process the 3D…

3D object detection from raw and sparse point clouds has been far less treated to date, compared with its 2D counterpart. In this paper, we propose a novel framework called FVNet for 3D front-view proposal generation and object detection…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

We present a novel 3D shape completion method that operates directly on unstructured point clouds, thus avoiding resource-intensive data structures like voxel grids. To this end, we introduce KAPLAN, a 3D point descriptor that aggregates…

Deep learning techniques for point cloud data have demonstrated great potentials in solving classical problems in 3D computer vision such as 3D object classification and segmentation. Several recent 3D object classification methods have…

The existing 3D deep learning methods adopt either individual point-based features or local-neighboring voxel-based features, and demonstrate great potential for processing 3D data. However, the point based models are inefficient due to the…

Being data-driven is one of the most iconic properties of deep learning algorithms. The birth of ImageNet drives a remarkable trend of "learning from large-scale data" in computer vision. Pretraining on ImageNet to obtain rich universal…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…

Explainability is an important factor to drive user trust in the use of neural networks for tasks with material impact. However, most of the work done in this area focuses on image analysis and does not take into account 3D data. We extend…

With the rapid progress of deep convolutional neural networks, in almost all robotic applications, the availability of 3D point clouds improves the accuracy of 3D semantic segmentation methods. Rendering of these irregular, unstructured,…

Point clouds collected from real-world environments are often incomplete due to factors such as limited sensor resolution, single viewpoints, occlusions, and noise. These challenges make point cloud completion essential for various…

We present Deformable PV-RCNN, a high-performing point-cloud based 3D object detector. Currently, the proposal refinement methods used by the state-of-the-art two-stage detectors cannot adequately accommodate differing object scales,…

Point-cloud is an efficient way to represent 3D world. Analysis of point-cloud deals with understanding the underlying 3D geometric structure. But due to the lack of smooth topology, and hence the lack of neighborhood structure, standard…

2D image representations are in regular grids and can be processed efficiently, whereas 3D point clouds are unordered and scattered in 3D space. The information inside these two visual domains is well complementary, e.g., 2D images have…

In view of the difficulty in reconstructing object details in point cloud completion, we propose a shape prior learning method for object completion. The shape priors include geometric information in both complete and the partial point…

In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…

High-quality 3D object recognition is an important component of many vision and robotics systems. We tackle the object recognition problem using two data representations, to achieve leading results on the Princeton ModelNet challenge. The…

Point cloud representation has recently become a research hotspot in the field of computer vision and has been utilized for autonomous vehicles. However, adapting deep learning networks for point cloud data recognition is challenging due to…

3D object detection has seen quick progress thanks to advances in deep learning on point clouds. A few recent works have even shown state-of-the-art performance with just point clouds input (e.g. VoteNet). However, point cloud data have…