相关论文: Point Cloud Denoising and Outlier Detection with L…

As a popular representation of 3D data, point cloud may contain noise and need to be filtered before use. Existing point cloud filtering methods either cannot preserve sharp features or result in uneven point distribution in the filtered…

Generating continuous surfaces from discrete point cloud data is a fundamental task in several 3D vision applications. Real-world point clouds are inherently noisy due to various technical and environmental factors. Existing data-driven…

Deep convolutional neural networks (CNNs) for image denoising have recently attracted increasing research interest. However, plain networks cannot recover fine details for a complex task, such as real noisy images. In this paper, we…

As a collection of 3D points sampled from surfaces of objects, a 3D point cloud is widely used in robotics, autonomous driving and augmented reality. Due to the physical limitations of 3D sensing devices, 3D point clouds are usually noisy,…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

Removing outlier correspondences is one of the critical steps for successful feature-based point cloud registration. Despite the increasing popularity of introducing deep learning methods in this field, spatial consistency, which is…

Point normal, as an intrinsic geometric property of 3D objects, not only serves conventional geometric tasks such as surface consolidation and reconstruction, but also facilitates cutting-edge learning-based techniques for shape analysis…

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 application of deep learning to 3D point clouds is challenging due to its lack of order. Inspired by the point embeddings of PointNet and the edge embeddings of DGCNNs, we propose three improvements to the task of point cloud analysis.…

Despite the recent development of deep learning-based point cloud upsampling, most MLP-based point cloud upsampling methods have limitations in that it is difficult to train the local and global structure of the point cloud at the same…

Surface-based geodesic topology provides strong cues for object semantic analysis and geometric modeling. However, such connectivity information is lost in point clouds. Thus we introduce GeoNet, the first deep learning architecture trained…

We present a new method for the unsupervised detection of geometric anomalies in high-resolution 3D point clouds. In particular, we propose an adaptation of the established student-teacher anomaly detection framework to three dimensions. A…

This paper presents Point Convolutional Neural Networks (PCNN): a novel framework for applying convolutional neural networks to point clouds. The framework consists of two operators: extension and restriction, mapping point cloud functions…

LiDAR sensors are critical for autonomous driving and robotics applications due to their ability to provide accurate range measurements and their robustness to lighting conditions. However, airborne particles, such as fog, rain, snow, and…

3D object detection often involves complicated training and testing pipelines, which require substantial domain knowledge about individual datasets. Inspired by recent non-maximum suppression-free 2D object detection models, we propose a 3D…

Diffusion models are rapidly redefining 3D anomaly detection in point cloud data. As 3D sensing becomes integral to modern manufacturing, reliable anomaly detection is essential for high-throughput quality assurance and process control. Yet…

State-of-the-art methods for large-scale driving-scene LiDAR segmentation often project the point clouds to 2D space and then process them via 2D convolution. Although this corporation shows the competitiveness in the point cloud, it…

To alleviate the cost of collecting and annotating large-scale point cloud datasets, we propose an unsupervised learning approach to learn features from unlabeled point cloud "3D object" dataset by using part contrasting and object…

Learning new representations of 3D point clouds is an active research area in 3D vision, as the order-invariant point cloud structure still presents challenges to the design of neural network architectures. Recent works explored learning…

Anomaly detection, which is a critical and popular topic in computer vision, aims to detect anomalous samples that are different from the normal (i.e., non-anomalous) ones. The current mainstream methods focus on anomaly detection for…