相关论文: Refining 3D Point Cloud Normal Estimation via Samp…

We propose a precise and efficient normal estimation method that can deal with noise and nonuniform density for unstructured 3D point clouds. Unlike existing approaches that directly take patches and ignore the local neighborhood…

Point cloud filtering and normal estimation are two fundamental research problems in the 3D field. Existing methods usually perform normal estimation and filtering separately and often show sensitivity to noise and/or inability to preserve…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

Although supervised deep normal estimators have recently shown impressive results on synthetic benchmarks, their performance deteriorates significantly in real-world scenarios due to the domain gap between synthetic and real data. Building…

Point cloud analysis is challenging due to the irregularity of the point cloud data structure. Existing works typically employ the ad-hoc sampling-grouping operation of PointNet++, followed by sophisticated local and/or global feature…

Three-dimensional (3D) point cloud analysis has become one of the attractive subjects in realistic imaging and machine visions due to its simplicity, flexibility and powerful capacity of visualization. Actually, the representation of scenes…

Explainability is an important factor to drive user trust in the use of neural networks for tasks with material impact. However, most of the work done in this area focuses on image analysis and does not take into account 3D data. We extend…

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…

This paper surveys and evaluates some popular state of the art methods for algorithmic curvature and normal estimation. In addition to surveying existing methods we also propose a new method for robust curvature estimation and evaluate it…

We introduce a novel self-attention-based normal estimation network that is able to focus softly on relevant points and adjust the softness by learning a temperature parameter, making it able to work naturally and effectively within a large…

This paper presents a neural network for robust normal estimation on point clouds, named AdaFit, that can deal with point clouds with noise and density variations. Existing works use a network to learn point-wise weights for weighted least…

Anomaly detection, which is a critical and popular topic in computer vision, aims to detect anomalous samples that are different from the normal (i.e., non-anomalous) ones. The current mainstream methods focus on anomaly detection for…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

Point cloud anomaly detection under the anomaly-free setting poses significant challenges as it requires accurately capturing the features of 3D normal data to identify deviations indicative of anomalies. Current efforts focus on devising…

Recent developments in the field of deep learning for 3D data have demonstrated promising potential for end-to-end learning directly from point clouds. However, many real-world point clouds contain a large class im-balance due to the…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Advanced 3D metrology technologies such as Coordinate Measuring Machine (CMM) and laser 3D scanners have facilitated the collection of massive point cloud data, beneficial for process monitoring, control and optimization. However, due to…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

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…