相关论文: MinkUNeXt: Point Cloud-based Large-scale Place Rec…

3D object detection plays an important role in a large number of real-world applications. It requires us to estimate the localizations and the orientations of 3D objects in real scenes. In this paper, we present a new network architecture…

For current object detectors, the scale of the receptive field of feature extraction operators usually increases layer by layer. Those operators are called scale-oriented operators in this paper, such as the convolution layer in CNN, and…

Modeling object dynamics with a neural network is an important problem with numerous applications. Most recent work has been based on graph neural networks. However, physics happens in 3D space, where geometric information potentially plays…

Advancements in 3D scene reconstruction have transformed 2D images from the real world into 3D models, producing realistic 3D results from hundreds of input photos. Despite great success in dense-view reconstruction scenarios, rendering a…

UNet and its latest extensions like TransUNet have been the leading medical image segmentation methods in recent years. However, these networks cannot be effectively adopted for rapid image segmentation in point-of-care applications as they…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

The 3D LiDAR place recognition aims to estimate a coarse localization in a previously seen environment based on a single scan from a rotating 3D LiDAR sensor. The existing solutions to this problem include hand-crafted point cloud…

This work proposes a general-purpose, fully-convolutional network architecture for efficiently processing large-scale 3D data. One striking characteristic of our approach is its ability to process unorganized 3D representations such as…

Existing networks directly learn feature representations on 3D point clouds for shape analysis. We argue that 3D point clouds are highly redundant and hold irregular (permutation-invariant) structure, which makes it difficult to achieve…

Existing 3D instance segmentation methods are predominated by the bottom-up design -- manually fine-tuned algorithm to group points into clusters followed by a refinement network. However, by relying on the quality of the clusters, these…

Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…

We present a new versatile building block for deep point cloud processing architectures that is equally suited for diverse tasks. This building block combines the ideas of spatial transformers and multi-view convolutional networks with the…

In this paper, we propose SparseDet for end-to-end 3D object detection from point cloud. Existing works on 3D object detection rely on dense object candidates over all locations in a 3D or 2D grid following the mainstream methods for object…

3D LiDAR scene completion from point clouds is a fundamental component of perception systems in autonomous vehicles. Previous methods have predominantly employed diffusion models for high-fidelity reconstruction. However, their multi-step…

Point cloud segmentation is one of the most important tasks in computer vision with widespread scientific, industrial, and commercial applications. The research thereof has resulted in many breakthroughs in 3D object and scene…

Recent advances in deep learning for 3D point clouds have shown great promises in scene understanding tasks thanks to the introduction of convolution operators to consume 3D point clouds directly in a neural network. Point cloud data,…

PointNet++ is one of the most influential neural architectures for point cloud understanding. Although the accuracy of PointNet++ has been largely surpassed by recent networks such as PointMLP and Point Transformer, we find that a large…

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…

In the field of deep point cloud understanding, KPConv is a unique architecture that uses kernel points to locate convolutional weights in space, instead of relying on Multi-Layer Perceptron (MLP) encodings. While it initially achieved…

Although accurate and fast point cloud classification is a fundamental task in 3D applications, it is difficult to achieve this purpose due to the irregularity and disorder of point clouds that make it challenging to achieve effective and…