相关论文: Density-invariant Features for Distant Point Cloud…

Robust and discriminative feature learning is critical for high-quality point cloud registration. However, existing deep learning-based methods typically rely on Euclidean neighborhood-based strategies for feature extraction, which struggle…

Single object tracking in point clouds has been attracting more and more attention owing to the presence of LiDAR sensors in 3D vision. However, the existing methods based on deep neural networks focus mainly on training different models…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

An effective 3D descriptor should be invariant to different geometric transformations, such as scale and rotation, robust to occlusions and clutter, and capable of generalising to different application domains. We present a simple yet…

3D perception in LiDAR point clouds is crucial for a self-driving vehicle to properly act in 3D environment. However, manually labeling point clouds is hard and costly. There has been a growing interest in self-supervised pre-training of 3D…

We propose a novel clustering approach for point-cloud segmentation based on supervised contrastive metric learning (CML). Rather than predicting cluster assignments or object-centric variables, the method learns a latent representation in…

Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception. A key difficulty lies in the modality gap between unstructured point clouds and…

Probabilistic methods for point set registration have demonstrated competitive results in recent years. These techniques estimate a probability distribution model of the point clouds. While such a representation has shown promise, it is…

State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…

With various facial manipulation techniques arising, face forgery detection has drawn growing attention due to security concerns. Previous works always formulate face forgery detection as a classification problem based on cross-entropy…

Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous driving. Nowadays deep learning methods can be trained to match a pair of point clouds, given the transformation between them. However,…

Point cloud anomaly detection is essential for various industrial applications. The huge computation and storage costs caused by the increasing product classes limit the application of single-class unsupervised methods, necessitating the…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

Detecting anomalies from 3D point clouds has received increasing attention in the field of computer vision, with some group-based or point-based methods achieving impressive results in recent years. However, learning accurate point-wise…

Smart monitoring using three-dimensional (3D) image sensors has been attracting attention in the context of smart cities. In smart monitoring, object detection from point cloud data acquired by 3D image sensors is implemented for detecting…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

In feature-learning based point cloud registration, the correct correspondence construction is vital for the subsequent transformation estimation. However, it is still a challenge to extract discriminative features from point cloud,…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

Point cloud filtering and normal estimation are two fundamental research problems in the 3D field. Existing methods usually perform normal estimation and filtering separately and often show sensitivity to noise and/or inability to preserve…

In this paper, we propose a novel 3D registration paradigm, Generative Point Cloud Registration, which bridges advanced 2D generative models with 3D matching tasks to enhance registration performance. Our key idea is to generate cross-view…