相关论文: Pointsoup: High-Performance and Extremely Low-Deco…

As two fundamental representation modalities of 3D objects, 3D point clouds and multi-view 2D images record shape information from different domains of geometric structures and visual appearances. In the current deep learning era,…

This paper introduces a novel lossless compression method for compressing geometric attributes of point cloud data with bits-back coding. Our method specializes in using a deep learning-based probabilistic model to estimate the Shannon's…

Normal estimation on 3D point clouds is a fundamental problem in 3D vision and graphics. Current methods often show limited accuracy in predicting normals at sharp features (e.g., edges and corners) and less robustness to noise. In this…

Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. Applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the lack of…

Point clouds are naturally sparse, while image pixels are dense. The inconsistency limits feature fusion from both modalities for point-wise scene flow estimation. Previous methods rarely predict scene flow from the entire point clouds of…

High-quality 3D texture generation remains a fundamental challenge due to the view-inconsistency inherent in current mainstream multi-view diffusion pipelines. Existing representations either rely on UV maps, which suffer from distortion…

This work extends the multiscale structure originally developed for point cloud geometry compression to point cloud attribute compression. To losslessly encode the attribute while maintaining a low bitrate, accurate probability prediction…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

We introduce an approach for the real-time (2Hz) creation of a dense map and alignment of a moving robotic agent within that map by rendering using a Graphics Processing Unit (GPU). This is done by recasting the scan alignment part of the…

Significant progress has been made recently in point cloud segmentation utilizing an encoder-decoder framework, which initially encodes point clouds into low-resolution representations and subsequently decodes high-resolution predictions.…

In this paper we present ADOP, a novel point-based, differentiable neural rendering pipeline. Like other neural renderers, our system takes as input calibrated camera images and a proxy geometry of the scene, in our case a point cloud. To…

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…

Despite the substantial advancements demonstrated by learning-based neural models in the LiDAR Point Cloud Compression (LPCC) task, realizing real-time compression - an indispensable criterion for numerous industrial applications - remains…

We present an approach to learning features that represent the local geometry around a point in an unstructured point cloud. Such features play a central role in geometric registration, which supports diverse applications in robotics and 3D…

This paper presents a learning-based, lossless compression method for static point cloud geometry, based on context-adaptive arithmetic coding. Unlike most existing methods working in the octree domain, our encoder operates in a hybrid…

The evolution of 3D visualization techniques has fundamentally transformed how we interact with digital content. At the forefront of this change is point cloud technology, offering an immersive experience that surpasses traditional 2D…

The representation of geometry in real-time 3D perception systems continues to be a critical research issue. Dense maps capture complete surface shape and can be augmented with semantic labels, but their high dimensionality makes them…

Octree-based point cloud representation and compression have been adopted by the MPEG G-PCC standard. However, it only uses handcrafted methods to predict the probability that a leaf node is non-empty, which is then used for entropy coding.…

Existing deep learning methods for the reconstruction and denoising of point clouds rely on small datasets of 3D shapes. We circumvent the problem by leveraging deep learning methods trained on billions of images. We propose a method to…

We proposed a novel graph convolutional neural network that could construct a coarse, sparse latent point cloud from a dense, raw point cloud. With a novel non-isotropic convolution operation defined on irregular geometries, the model then…