相关论文: Point2Point : A Framework for Efficient Deep Learn…

Point clouds have gained prominence across numerous applications due to their ability to accurately represent 3D objects and scenes. However, efficiently compressing unstructured, high-precision point cloud data remains a significant…

Point cloud is an important type of 3D representation. However, directly applying convolutions on point clouds is challenging due to the sparse, irregular and unordered data structure. In this paper, we propose a novel Interpolated…

Recognition of occluded objects in unseen indoor environments is a challenging problem for mobile robots. This work proposes a new slicing-based topological descriptor that captures the 3D shape of object point clouds to address this…

In this paper, we present a deep learning architecture which addresses the problem of 3D semantic segmentation of unstructured point clouds. Compared to previous work, we introduce grouping techniques which define point neighborhoods in the…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

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…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…

Following the tremendous success of transformer in natural language processing and image understanding tasks, in this paper, we present a novel point cloud representation learning architecture, named Dual Transformer Network (DTNet), which…

We propose a neural network for 3D point cloud processing that exploits `spherical' convolution kernels and octree partitioning of space. The proposed metric-based spherical kernels systematically quantize point neighborhoods to identify…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

Modern image encoders achieve high generalization by decoupling semantic meaning from resolution, an ability yet to be fully realized in the 3D domain. We investigate the failure of 3D point cloud encoders to achieve similar generalization…

Implicit neural networks have been successfully used for surface reconstruction from point clouds. However, many of them face scalability issues as they encode the isosurface function of a whole object or scene into a single latent vector.…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

Persistent Homology (PH) offers stable, multi-scale descriptors of intrinsic shape structure by capturing connected components, loops, and voids that persist across scales, providing invariants that complement purely geometric…

Point clouds are a fundamental representation for robotic perception tasks such as localization, mapping, and object pose estimation. However, LiDAR-acquired point clouds are inherently sparse and non-uniform, providing incomplete…

Learning generative models of 3D point clouds is one of the fundamental problems in 3D generative learning. One of the key properties of point clouds is their permutation invariance, i.e., changing the order of points in a point cloud does…

In this paper we address the task of finding representative subsets of points in a 3D point cloud by means of a point-wise ordering. Only a few works have tried to address this challenging vision problem, all with the help of hard to obtain…

Despite the progress on 3D point cloud deep learning, most prior works focus on learning features that are invariant to translation and point permutation, and very limited efforts have been devoted for rotation invariant property. Several…

Given the rapid development of 3D scanners, point clouds are becoming popular in AI-driven machines. However, point cloud data is inherently sparse and irregular, causing significant difficulties for machine perception. In this work, we…

This paper investigates indoor point cloud semantic segmentation under scene-level annotation, which is less explored compared to methods relying on sparse point-level labels. In the absence of precise point-level labels, current methods…