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

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

Point clouds obtained from capture devices or 3D reconstruction techniques are often noisy and interfere with downstream tasks. The paper aims to recover the underlying surface of noisy point clouds. We design a novel model, NoiseTrans,…

The world around us is full of soft objects we perceive and deform with dexterous hand movements. For a robotic hand to control soft objects, it has to acquire online state feedback of the deforming object. While RGB-D cameras can collect…

We propose the use of a Transformer to accurately predict normals from point clouds with noise and density variations. Previous learning-based methods utilize PointNet variants to explicitly extract multi-scale features at different input…

Fast, scalable decoding architectures that operate in a block-wise parallel fashion across space and time are essential for real-time fault-tolerant quantum computing. We introduce a scalable AI-based pre-decoder for the surface code that…

Most algorithms that rely on deep learning-based approaches to generate 3D point sets can only produce clouds containing fixed number of points. Furthermore, they typically require large networks parameterized by many weights, which makes…

Point clouds acquired by 3D scanning devices are often sparse, noisy, and non-uniform, causing a loss of geometric features. To facilitate the usability of point clouds in downstream applications, given such input, we present a…

Point cloud data is pivotal in applications like autonomous driving, virtual reality, and robotics. However, its substantial volume poses significant challenges in storage and transmission. In order to obtain a high compression ratio,…

Traditional image codecs emphasize signal fidelity and human perception, often at the expense of machine vision tasks. Deep learning methods have demonstrated promising coding performance by utilizing rich semantic embeddings optimized for…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

We introduce a novel superpoint-based transformer architecture for efficient semantic segmentation of large-scale 3D scenes. Our method incorporates a fast algorithm to partition point clouds into a hierarchical superpoint structure, which…

This paper proposes a lossless point cloud (PC) geometry compression method that uses neural networks to estimate the probability distribution of voxel occupancy. First, to take into account the PC sparsity, our method adaptively partitions…

Point clouds are an increasingly relevant data type but they are often corrupted by noise. We propose a deep neural network based on graph-convolutional layers that can elegantly deal with the permutation-invariance problem encountered by…

This paper presents a novel non-local part-aware deep neural network to denoise point clouds by exploring the inherent non-local self-similarity in 3D objects and scenes. Different from existing works that explore small local patches, we…

Point clouds are a fundamental representation for robotic perception tasks such as localization, mapping, and object pose estimation. However, LiDAR-acquired point clouds are inherently sparse and non-uniform, providing incomplete…

Surface reconstruction from point clouds is vital for 3D computer vision. State-of-the-art methods leverage large datasets to first learn local context priors that are represented as neural network-based signed distance functions (SDFs)…

Semantic outdoor scene understanding based on 3D LiDAR point clouds is a challenging task for autonomous driving due to the sparse and irregular data structure. This paper takes advantages of the uneven range distribution of different LiDAR…

Estimating normals for noisy point clouds is a persistent challenge in 3D geometry processing, particularly for end-to-end oriented normal estimation. Existing methods generally address relatively clean data and rely on supervised priors to…

Since the data volume of LiDAR point clouds is very huge, efficient compression is necessary to reduce their storage and transmission costs. However, existing learning-based compression methods do not exploit the inherent angular resolution…

Point cloud upsampling focuses on generating a dense, uniform and proximity-to-surface point set. Most previous approaches accomplish these objectives by carefully designing a single-stage network, which makes it still challenging to…