相关论文: StraightPCF: Straight Point Cloud Filtering

3D object detection is a fundamental task in scene understanding. Numerous research efforts have been dedicated to better incorporate Hough voting into the 3D object detection pipeline. However, due to the noisy, cluttered, and partial…

Point cloud segmentation is a fundamental task in 3D. Despite recent progress on point cloud segmentation with the power of deep networks, current deep learning methods based on the clean label assumptions may fail with noisy labels. Yet,…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

Point clouds have been a recent interest for ray tracing-based radio channel characterization, as sensors such as RGB-D cameras and laser scanners can be utilized to generate an accurate virtual copy of a physical environment. In this…

Established sampling protocols for 3D point cloud learning, such as Farthest Point Sampling (FPS) and Fixed Sample Size (FSS), have long been relied upon. However, real-world data often suffer from corruptions, such as sensor noise, which…

Designing a point cloud upsampler, which aims to generate a clean and dense point cloud given a sparse point representation, is a fundamental and challenging problem in computer vision. A line of attempts achieves this goal by establishing…

Building on recent advances in Bayesian statistics and image denoising, we propose Noise2Score3D, a fully unsupervised framework for point cloud denoising. Noise2Score3D learns the score function of the underlying point cloud distribution…

Neural signed distance functions (SDFs) have shown powerful ability in fitting the shape geometry. However, inferring continuous signed distance fields from discrete unoriented point clouds still remains a challenge. The neural network…

Recently, learning multi-view neural surface reconstruction with the supervision of point clouds or depth maps has been a promising way. However, due to the underutilization of prior information, current methods still struggle with the…

We show that denoising of 3D point clouds can be learned unsupervised, directly from noisy 3D point cloud data only. This is achieved by extending recent ideas from learning of unsupervised image denoisers to unstructured 3D point clouds.…

3D dynamic point clouds provide a natural discrete representation of real-world objects or scenes in motion, with a wide range of applications in immersive telepresence, autonomous driving, surveillance, \etc. Nevertheless, dynamic point…

We introduce a new deep learning method for point cloud comparison. Our approach, named Deep Point Cloud Distance (DPDist), measures the distance between the points in one cloud and the estimated surface from which the other point cloud is…

This work presents an accurate and robust method for estimating normals from point clouds. In contrast to predecessor approaches that minimize the deviations between the annotated and the predicted normals directly, leading to direction…

In this paper, we propose PCPNet, a deep-learning based approach for estimating local 3D shape properties in point clouds. In contrast to the majority of prior techniques that concentrate on global or mid-level attributes, e.g., for shape…

Many applications in robotics and human-computer interaction can benefit from understanding 3D motion of points in a dynamic environment, widely noted as scene flow. While most previous methods focus on stereo and RGB-D images as input, few…

Accurate Point Cloud Registration (PCR) is an important task in 3D data processing, involving the estimation of a rigid transformation between two point clouds. While deep-learning methods have addressed key limitations of traditional…

The irregular domain and lack of ordering make it challenging to design deep neural networks for point cloud processing. This paper presents a novel framework named Point Cloud Transformer(PCT) for point cloud learning. PCT is based on…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

3D point clouds acquired by scanning real-world objects or scenes have found a wide range of applications including immersive telepresence, autonomous driving, surveillance, etc. They are often perturbed by noise or suffer from low density,…

Pre-training a model and then fine-tuning it on downstream tasks has demonstrated significant success in the 2D image and NLP domains. However, due to the unordered and non-uniform density characteristics of point clouds, it is non-trivial…