相关论文: SE(3)-bi-equivariant Transformers for Point Cloud …

Equivariance has gained strong interest as a desirable network property that inherently ensures robust generalization. However, when dealing with complex systems such as articulated objects or multi-object scenes, effectively capturing…

Point cloud completion aims to recover partial geometric and topological shapes caused by equipment defects or limited viewpoints. Current methods either solely rely on the 3D coordinates of the point cloud to complete it or incorporate…

Registration of point clouds related by rigid transformations is one of the fundamental problems in computer vision. However, a solution to the practical scenario of aligning sparsely and differently sampled observations in the presence of…

We introduce a simple permutation equivariant layer for deep learning with set structure.This type of layer, obtained by parameter-sharing, has a simple implementation and linear-time complexity in the size of each set. We use deep…

Point cloud analysis is a fundamental task in 3D computer vision. Most previous works have conducted experiments on synthetic datasets with well-aligned data; while real-world point clouds are often not pre-aligned. How to achieve rotation…

The rotation robustness property has drawn much attention to point cloud analysis, whereas it still poses a critical challenge in 3D object detection. When subjected to arbitrary rotation, most existing detectors fail to produce expected…

Point cloud completion is a fundamental task in 3D vision. A persistent challenge in this field is simultaneously preserving fine-grained details present in the input while ensuring the global structural integrity of the completed shape.…

With the increased availability of 3D scanning technology, point clouds are moving into the focus of computer vision as a rich representation of everyday scenes. However, they are hard to handle for machine learning algorithms due to their…

We demonstrate an object tracking method for 3D images with fixed computational cost and state-of-the-art performance. Previous methods predicted transformation parameters from convolutional layers. We instead propose an architecture that…

Instance segmentation in point clouds is one of the most fine-grained ways to understand the 3D scene. Due to its close relationship to semantic segmentation, many works approach these two tasks simultaneously and leverage the benefits of…

X-ray Bragg coherent diffraction imaging has been demonstrated as a powerful three-dimensional (3D) microscopy approach for the investigation of sub-micrometer-scale crystalline particles. It is based on the measurement of a series of…

Being able to reverse engineer from point cloud data to obtain 3D models is important in modeling. As our main contribution, we present a new method to obtain a tensor product B-spline representation from point cloud data by fitting…

Continual Learning aims to learn multiple incoming new tasks continually, and to keep the performance of learned tasks at a consistent level. However, existing research on continual learning assumes the pose of the object is pre-defined and…

Quantification of uncertainty in point cloud matching is critical in many tasks such as pose estimation, sensor fusion, and grasping. Iterative closest point (ICP) is a commonly used pose estimation algorithm which provides a point estimate…

Non-rigid alignment of point clouds is crucial for scene understanding, reconstruction, and various computer vision and robotics tasks. Recent advancements in implicit deformation networks for non-rigid registration have significantly…

For the registration of partially overlapping point clouds, this paper proposes an effective approach based on both the hard and soft assignments. Given two initially posed clouds, it firstly establishes the forward correspondence for each…

Recent attempts at introducing rotation invariance or equivariance in 3D deep learning approaches have shown promising results, but these methods still struggle to reach the performances of standard 3D neural networks. In this work we study…

Sequential fine-tuning and multi-task learning are methods aiming to incorporate knowledge from multiple tasks; however, they suffer from catastrophic forgetting and difficulties in dataset balancing. To address these shortcomings, we…

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…

Point cloud registration (PCR) is an essential task in 3D vision. Existing methods achieve increasingly higher accuracy. However, a large proportion of non-overlapping points in point cloud registration consume a lot of computational…