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The learning and aggregation of multi-scale features are essential in empowering neural networks to capture the fine-grained geometric details in the point cloud upsampling task. Most existing approaches extract multi-scale features from a…

Point cloud upsampling is vital for the quality of the mesh in three-dimensional reconstruction. Recent research on point cloud upsampling has achieved great success due to the development of deep learning. However, the existing methods…

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…

LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…

Most real-world 3D measurements from depth sensors are incomplete, and to address this issue the point cloud completion task aims to predict the complete shapes of objects from partial observations. Previous works often adapt an…

With the tide of artificial intelligence, we try to apply deep learning to understand 3D data. Point cloud is an important 3D data structure, which can accurately and directly reflect the real world. In this paper, we propose a simple and…

Point cloud obtained from 3D scanning is often sparse, noisy, and irregular. To cope with these issues, recent studies have been separately conducted to densify, denoise, and complete inaccurate point cloud. In this paper, we advocate that…

Point clouds are widely used in various fields, including augmented reality (AR) and robotics, where relighting and texture editing are crucial for realistic visualization. Achieving these tasks requires accurately separating albedo from…

Masked autoencoder has been widely explored in point cloud self-supervised learning, whereby the point cloud is generally divided into visible and masked parts. These methods typically include an encoder accepting visible patches…

Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…

Point cloud segmentation (PCS) aims to make per-point predictions and enables robots and autonomous driving cars to understand the environment. The range image is a dense representation of a large-scale outdoor point cloud, and segmentation…

This paper introduces an efficient patch-based computational module, coined Entropy-based Patch Encoder (EPE) module, for resource-constrained semantic segmentation. The EPE module consists of three lightweight fully-convolutional encoders,…

Point cloud completion is the task of predicting complete geometry from partial observations using a point set representation for a 3D shape. Previous approaches propose neural networks to directly estimate the whole point cloud through…

We present an image-conditioned point cloud completion approach that treats images as the primary geometric source rather than a secondary guide. To this end, we introduce an Image-to-Point (I2P) module that can reconstruct complete point…

Shape completion, the problem of estimating the complete geometry of objects from partial observations, lies at the core of many vision and robotics applications. In this work, we propose Point Completion Network (PCN), a novel…

Nowadays, pre-training big models on large-scale datasets has become a crucial topic in deep learning. The pre-trained models with high representation ability and transferability achieve a great success and dominate many downstream tasks in…

Despite considerable progress being achieved in point cloud geometry compression, there still remains a challenge in effectively compressing large-scale scenes with sparse surfaces. Another key challenge lies in reducing decoding latency, a…

Cloud-edge collaboration enhances machine perception by combining the strengths of edge and cloud computing. Edge devices capture raw data (e.g., 3D point clouds) and extract salient features, which are sent to the cloud for deeper analysis…

In this paper, we tackle the challenging problem of point cloud completion from the perspective of feature learning. Our key observation is that to recover the underlying structures as well as surface details, given partial input, a…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…