相关论文: HD2Reg: Hierarchical Descriptors and Detectors for…

Processing point clouds using deep neural networks is still a challenging task. Most existing models focus on object detection and registration with deep neural networks using point clouds. In this paper, we propose a deep model that learns…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Semantic segmentation of point clouds, aiming to assign each point a semantic category, is critical to 3D scene understanding.Despite of significant advances in recent years, most of existing methods still suffer from either the…

Machine learning for point clouds has been attracting much attention, with many applications in various fields, such as shape recognition and material science. For enhancing the accuracy of such machine learning methods, it is often…

Most existing studies on learning local features focus on the patch-based descriptions of individual keypoints, whereas neglecting the spatial relations established from their keypoint locations. In this paper, we go beyond the local detail…

LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…

Semantic segmentation of point clouds is an essential task for understanding the environment in autonomous driving and robotics. Recent range-based works achieve real-time efficiency, while point- and voxel-based methods produce better…

This paper presents Segregator, a global point cloud registration framework that exploits both semantic information and geometric distribution to efficiently build up outlier-robust correspondences and search for inliers. Current…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

Many existing approaches for 3D point cloud semantic segmentation are fully supervised. These fully supervised approaches heavily rely on large amounts of labeled training data that are difficult to obtain and cannot segment new classes…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

Efficient detection and description of geometric regions in images is a prerequisite in visual systems for localization and mapping. Such systems still rely on traditional hand-crafted methods for efficient generation of lightweight…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

Establishing a sparse set of keypoint correspon dences between images is a fundamental task in many computer vision pipelines. Often, this translates into a computationally expensive nearest neighbor search, where every keypoint descriptor…

We present a novel attention-based mechanism to learn enhanced point features for point cloud processing tasks, e.g., classification and segmentation. Unlike prior works, which were trained to optimize the weights of a pre-selected set of…

Image-to-point cloud registration is often challenged by viewpoint changes, cross-modal discrepancies, and repetitive textures, which induce scale ambiguity and consequently lead to erroneous correspondences. Recent detection-free methods…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

3D point cloud registration is a fundamental problem in computer vision and robotics. Recently, learning-based point cloud registration methods have made great progress. However, these methods are sensitive to outliers, which lead to more…