相关论文: Symbol as Points: Panoptic Symbol Spotting via Poi…

Visual data in autonomous driving perception, such as camera image and LiDAR point cloud, can be interpreted as a mixture of two aspects: semantic feature and geometric structure. Semantics come from the appearance and context of objects to…

Robotic agents need to understand how to interact with objects in their environment, both autonomously and during human-robot interactions. Affordance detection on 3D point clouds, which identifies object regions that allow specific…

We propose a simple, fast, and flexible framework to generate simultaneously semantic and instance masks for panoptic segmentation. Our method, called PanoNet, incorporates a clean and natural structure design that tackles the problem…

Current Point-based detectors can only learn from the provided points, with limited receptive fields and insufficient global learning capabilities for such targets. In this paper, we present a novel Point Dilation Mechanism for single-stage…

In computer-aided design (CAD) systems, 2D line drawings are commonly used to illustrate 3D object designs. To reconstruct the 3D models depicted by a single 2D line drawing, an important key is finding the edge loops in the line drawing…

In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…

The irregularity and permutation invariance of point cloud data pose challenges for effective learning. Conventional methods for addressing this issue involve converting raw point clouds to intermediate representations such as 3D voxel…

There are various automotive applications that rely on correctly interpreting point cloud data recorded with radar sensors. We present a deep learning approach for histogram-based processing of such point clouds. Compared to existing…

Three-dimensional (3D) point clouds are important data representations in visualization applications. The rapidly growing utility and popularity of point cloud processing strongly motivate a plethora of research activities on large-scale…

Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…

This paper tries to address a fundamental question in point cloud self-supervised learning: what is a good signal we should leverage to learn features from point clouds without annotations? To answer that, we introduce a point cloud…

Point cloud processing is a challenging task due to its sparsity and irregularity. Prior works introduce delicate designs on either local feature aggregator or global geometric architecture, but few combine both advantages. We propose…

Local image feature descriptors have had a tremendous impact on the development and application of computer vision methods. It is therefore unsurprising that significant efforts are being made for learning-based image point descriptors.…

Parametric 3D body models like SMPL only represent minimally-clothed people and are hard to extend to clothing because they have a fixed mesh topology and resolution. To address these limitations, recent work uses implicit surfaces or point…

Surface reconstruction from point clouds is a crucial task in the fields of computer vision and computer graphics. SDF-based methods excel at reconstructing smooth meshes with minimal error and artefacts but struggle with representing open…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

Recent years have witnessed the surge of learned representations that directly build upon point clouds. Though becoming increasingly expressive, most existing representations still struggle to generate ordered point sets. Inspired by…

The choice of data representation is a key factor in the success of deep learning in geometric tasks. For instance, DUSt3R recently introduced the concept of viewpoint-invariant point maps, generalizing depth prediction and showing that all…

This paper explores the point set representation for tubular structure extraction tasks. Compared with the traditional mask representation, the point set representation enjoys its flexibility and representation ability, which would not be…