相关论文: Improved Block Merging for 3D Point Cloud Instance…

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.…

Coarse-to-fine 3D instance segmentation methods show weak performances compared to recent Grouping-based, Kernel-based and Transformer-based methods. We argue that this is due to two limitations: 1) Instance size overestimation by…

We propose a new approach for 3D instance segmentation based on sparse convolution and point affinity prediction, which indicates the likelihood of two points belonging to the same instance. The proposed network, built upon submanifold…

In this paper we propose a new framework for point cloud instance segmentation. Our framework has two steps: an embedding step and a clustering step. In the embedding step, our main contribution is to propose a probabilistic embedding space…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

Learning-based 3D shape segmentation is usually formulated as a semantic labeling problem, assuming that all parts of training shapes are annotated with a given set of tags. This assumption, however, is impractical for learning fine-grained…

Over-segmentation, or super-pixel generation, is a common preliminary stage for many computer vision applications. New acquisition technologies enable the capturing of 3D point clouds that contain color and geometrical information. This 3D…

While massively scaling both data and models have become central in NLP and 2D vision, their benefits for 3D point cloud understanding remain limited. We study the initial step of scaling 3D point cloud understanding under a realistic…

This paper proposes an adaptive margin contrastive learning method for 3D semantic segmentation on point clouds. Most existing methods use equally penalized objectives, which ignore the per-point ambiguities and less discriminated features…

Semantic segmentation of point cloud usually relies on dense annotation that is exhausting and costly, so it attracts wide attention to investigate solutions for the weakly supervised scheme with only sparse points annotated. Existing works…

The continual improvement of 3D sensors has driven the development of algorithms to perform point cloud analysis. In fact, techniques for point cloud classification and segmentation have in recent years achieved incredible performance…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

Over the past two decades, we have seen an exponentially increased amount of point clouds collected with irregular shapes in various areas. Motivated by the importance of solid modeling for point clouds, we develop a novel and efficient…

Cell nuclei segmentation is one of the most important tasks in the analysis of biomedical images. With ever-growing sizes and amounts of three-dimensional images to be processed, there is a need for better and faster segmentation methods.…

The development of practical applications, such as autonomous driving and robotics, has brought increasing attention to 3D point cloud understanding. While deep learning has achieved remarkable success on image-based tasks, there are many…

3D point cloud semantic segmentation has a wide range of applications. Recently, weakly supervised point cloud segmentation methods have been proposed, aiming to alleviate the expensive and laborious manual annotation process by leveraging…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

Instance segmentation of point clouds is a crucial task in 3D field with numerous applications that involve localizing and segmenting objects in a scene. However, achieving satisfactory results requires a large number of manual annotations,…

3D point clouds are discrete samples of continuous surfaces which can be used for various applications. However, the lack of true connectivity information, i.e., edge information, makes point cloud recognition challenging. Recent edge-aware…

We propose a mechanism to reconstruct part annotated 3D point clouds of objects given just a single input image. We demonstrate that jointly training for both reconstruction and segmentation leads to improved performance in both the tasks,…