相关论文: T-CorresNet: Template Guided 3D Point Cloud Comple…

We propose a diffusion model designed to generate point-based shape representations with correspondences. Traditional statistical shape models have considered point correspondences extensively, but current deep learning methods do not take…

Point clouds have become increasingly vital across various applications thanks to their ability to realistically depict 3D objects and scenes. Nevertheless, effectively compressing unstructured, high-precision point cloud data remains a…

Category-level object pose estimation aims to predict the pose and size of arbitrary objects in specific categories. Existing methods struggle with the inherent incompleteness of observed point clouds, which limits their ability to capture…

Deep learning with 3D data such as reconstructed point clouds and CAD models has received great research interests recently. However, the capability of using point clouds with convolutional neural network has been so far not fully explored.…

Existing point cloud modeling datasets primarily express the modeling precision by pose or trajectory precision rather than the point cloud modeling effect itself. Under this demand, we first independently construct a set of LiDAR system…

Most real-world 3D measurements from depth sensors are incomplete, and to address this issue the point cloud completion task aims to predict the complete shapes of objects from partial observations. Previous works often adapt an…

We propose a novel approach aimed at object and semantic scene completion from a partial scan represented as a 3D point cloud. Our architecture relies on three novel layers that are used successively within an encoder-decoder structure and…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

In the field of 3D point cloud generation, numerous 3D generative models have demonstrated the ability to generate diverse and realistic 3D shapes. However, the majority of these approaches struggle to generate controllable 3D point cloud…

Over the last decade, the demand for better segmentation and classification algorithms in 3D spaces has significantly grown due to the popularity of new 3D sensor technologies and advancements in the field of robotics. Point-clouds are one…

3D point cloud registration is fragile to outliers, which are labeled as the points without corresponding points. To handle this problem, a widely adopted strategy is to estimate the relative pose based only on some accurate…

Point cloud compression plays a crucial role in reducing the huge cost of data storage and transmission. However, distortions can be introduced into the decompressed point clouds due to quantization. In this paper, we propose a novel…

The ability for robots to comprehend and execute manipulation tasks based on natural language instructions is a long-term goal in robotics. The dominant approaches for language-guided manipulation use 2D image representations, which face…

3D perception in point clouds is transforming the perception ability of future intelligent machines. Point cloud algorithms, however, are plagued by irregular memory accesses, leading to massive inefficiencies in the memory sub-system,…

Completing an unordered partial point cloud is a challenging task. Existing approaches that rely on decoding a latent feature to recover the complete shape, often lead to the completed point cloud being over-smoothing, losing details, and…

Point cloud semantic segmentation from projected views, such as range-view (RV) and bird's-eye-view (BEV), has been intensively investigated. Different views capture different information of point clouds and thus are complementary to each…

Point cloud segmentation is a fundamental visual understanding task in 3D vision. A fully supervised point cloud segmentation network often requires a large amount of data with point-wise annotations, which is expensive to obtain. In this…

Recent years have witnessed the growth of point cloud based applications because of its realistic and fine-grained representation of 3D objects and scenes. However, it is a challenging problem to compress sparse, unstructured, and…

In this paper, we propose a novel 3D registration paradigm, Generative Point Cloud Registration, which bridges advanced 2D generative models with 3D matching tasks to enhance registration performance. Our key idea is to generate cross-view…

3D Gaussian Splatting (3DGS) has demonstrated its advantages in achieving fast and high-quality rendering. As point clouds serve as a widely-used and easily accessible form of 3D representation, bridging the gap between point clouds and…