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

In this paper, we focus on improving binary 2D instance segmentation to assist humans in labeling ground truth datasets with polygons. Humans labeler just have to draw boxes around objects, and polygons are generated automatically. To be…

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…

As 3D point cloud analysis has received increasing attention, the insufficient scale of point cloud datasets and the weak generalization ability of networks become prominent. In this paper, we propose a simple and effective augmentation…

Point clouds provide intrinsic geometric information and surface context for scene understanding. Existing methods for point cloud segmentation require a large amount of fully labeled data. Using advanced depth sensors, collection of large…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

Feedforward fully convolutional neural networks currently dominate in semantic segmentation of 3D point clouds. Despite their great success, they suffer from the loss of local information at low-level layers, posing significant challenges…

Segmentation from point cloud data is essential in many applications such as remote sensing, mobile robots, or autonomous cars. However, the point clouds captured by the 3D range sensor are commonly sparse and unstructured, challenging…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

This paper introduces the 3DCapsule, which is a 3D extension of the recently introduced Capsule concept that makes it applicable to unordered point sets. The original Capsule relies on the existence of a spatial relationship between the…

A robust, resource-efficient, distributed, and minimally parameterized 3D map matching and merging algorithm is proposed. The suggested algorithm utilizes tomographic features from 2D projections of horizontal cross-sections of…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

We propose a novel, conceptually simple and general framework for instance segmentation on 3D point clouds. Our method, called 3D-BoNet, follows the simple design philosophy of per-point multilayer perceptrons (MLPs). The framework directly…

The lack of fine-grained 3D shape segmentation data is the main obstacle to developing learning-based 3D segmentation techniques. We propose an effective semi-supervised method for learning 3D segmentations from a few labeled 3D shapes and…

Probabilistic 3D point cloud registration methods have shown competitive performance in overcoming noise, outliers, and density variations. However, registering point cloud pairs in the case of partial overlap is still a challenge. This…

Extreme multi-label classification aims to learn a classifier that annotates an instance with a relevant subset of labels from an extremely large label set. Many existing solutions embed the label matrix to a low-dimensional linear…

We present a method that detects boundaries of parts in 3D shapes represented as point clouds. Our method is based on a graph convolutional network architecture that outputs a probability for a point to lie in an area that separates two or…

Extracting high-level structural information from 3D point clouds is challenging but essential for tasks like urban planning or autonomous driving requiring an advanced understanding of the scene at hand. Existing approaches are still not…

Real-world networks often come with side information that can help to improve the performance of network analysis tasks such as clustering. Despite a large number of empirical and theoretical studies conducted on network clustering methods…

In the field of robotics, the point cloud has become an essential map representation. From the perspective of downstream tasks like localization and global path planning, points corresponding to dynamic objects will adversely affect their…

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,…