相关论文: PRENet: A Plane-Fit Redundancy Encoding Point Clou…

Weakly-supervised temporal action localization aims to localize action instances temporal boundary and identify the corresponding action category with only video-level labels. Traditional methods mainly focus on foreground and background…

3D point cloud semantic and instance segmentation is crucial and fundamental for 3D scene understanding. Due to the complex structure, point sets are distributed off balance and diversely, which appears as both category imbalance and…

Estimating surface normals from 3D point clouds is critical for various applications, including surface reconstruction and rendering. While existing methods for normal estimation perform well in regions where normals change slowly, they…

Learning rotation-invariant distinctive features is a fundamental requirement for point cloud registration. Existing methods often use rotation-sensitive networks to extract features, while employing rotation augmentation to learn an…

Semantic segmentation stands as a pivotal research focus in computer vision. In the context of industrial image inspection, conventional semantic segmentation models fail to maintain the segmentation consistency of fixed components across…

Point clouds collected by real-world sensors are always unaligned and sparse, which makes it hard to reconstruct the complete shape of object from a single frame of data. In this work, we manage to provide complete point clouds from sparse…

Automatic 3D reconstruction of indoor spaces from 2D floor plans necessitates high-precision semantic segmentation of structural elements, particularly walls. However, existing methods often struggle with detecting thin structures and…

In this paper, we aim at addressing two critical issues in the 3D detection task, including the exploitation of multiple sensors~(namely LiDAR point cloud and camera image), as well as the inconsistency between the localization and…

Deep learning with 3D data has progressed significantly since the introduction of convolutional neural networks that can handle point order ambiguity in point cloud data. While being able to achieve good accuracies in various scene…

We propose a novel framework to learn 3D point cloud semantics from 2D multi-view image observations containing pose error. On the one hand, directly learning from the massive, unstructured and unordered 3D point cloud is computationally…

Accurate classification of building roof types from aerial imagery is crucial for various remote sensing applications, including urban planning, disaster management, and infrastructure monitoring. However, this task is often hindered by the…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

Monocular 3D human pose estimation remains a fundamentally ill-posed inverse problem due to the inherent depth ambiguity in 2D-to-3D lifting. While contemporary video-based methods leverage temporal context to enhance spatial reasoning,…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

We propose a novel deep learning model named ACLNet, for cloud segmentation from ground images. ACLNet uses both deep neural network and machine learning (ML) algorithm to extract complementary features. Specifically, it uses…

Reliable robotic grasping in unstructured environments is a crucial but challenging task. The main problem is to generate the optimal grasp of novel objects from partial noisy observations. This paper presents an end-to-end grasp detection…

The application of deep learning to 3D point clouds is challenging due to its lack of order. Inspired by the point embeddings of PointNet and the edge embeddings of DGCNNs, we propose three improvements to the task of point cloud analysis.…

Depth completion from sparse LiDAR measurements and corresponding RGB images is a prerequisite for accurate 3D perception in robotic systems. Existing methods achieve high accuracy on standard benchmarks but rely on heavy backbone…

Point cloud normal estimation is a fundamental task in 3D geometry processing. While recent learning-based methods achieve notable advancements in normal prediction, they often overlook the critical aspect of equivariance. This results in…

We present Point-BERT, a new paradigm for learning Transformers to generalize the concept of BERT to 3D point cloud. Inspired by BERT, we devise a Masked Point Modeling (MPM) task to pre-train point cloud Transformers. Specifically, we…