相关论文: Enhancing Robustness to Noise Corruption for Point…

In this paper, we present a robust spherical harmonics approach for the classification of point cloud-based objects. Spherical harmonics have been used for classification over the years, with several frameworks existing in the literature.…

Point clouds obtained with 3D scanners or by image-based reconstruction techniques are often corrupted with significant amount of noise and outliers. Traditional methods for point cloud denoising largely rely on local surface fitting (e.g.,…

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…

Data mixing augmentation has proved effective in training deep models. Recent methods mix labels mainly based on the mixture proportion of image pixels. As the main discriminative information of a fine-grained image usually resides in…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

We present a novel differential matching algorithm for 3D point cloud registration. Instead of only optimizing the feature extractor for a matching algorithm, we propose a learning-based matching module optimized to the jointly-trained…

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 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,…

Diffusion probabilistic models are traditionally used to generate colors at fixed pixel positions in 2D images. Building on this, we extend diffusion models to point cloud semantic segmentation, where point positions also remain fixed, and…

Data augmentation is key to improving the generalization ability of deep learning models. Mixup is a simple and widely-used data augmentation technique that has proven effective in alleviating the problems of overfitting and data scarcity.…

Downsampling and feature extraction are essential procedures for 3D point cloud understanding. Existing methods are limited by the inconsistent point densities of different parts in the point cloud. In this work, we analyze the limitation…

Analog computing hardwares, such as Processing-in-memory (PIM) accelerators, have gradually received more attention for accelerating the neural network computations. However, PIM accelerators often suffer from intrinsic noise in the…

Data augmentation is an effective regularization strategy to alleviate the overfitting, which is an inherent drawback of the deep neural networks. However, data augmentation is rarely considered for point cloud processing despite many…

Given the rapid development of 3D scanners, point clouds are becoming popular in AI-driven machines. However, point cloud data is inherently sparse and irregular, causing significant difficulties for machine perception. In this work, we…

Cloud-edge collaboration enhances machine perception by combining the strengths of edge and cloud computing. Edge devices capture raw data (e.g., 3D point clouds) and extract salient features, which are sent to the cloud for deeper analysis…

Graph-based methods have proven to be effective in capturing relationships among points for 3D point cloud analysis. However, these methods often suffer from suboptimal graph structures, particularly due to sparse connections at boundary…

Deep learning-based feature matching has shown great superiority for point cloud registration in the absence of pose priors. Although coarse-to-fine matching approaches are prevalent, the coarse matching of existing methods is typically…

Noise has always been nonnegligible trouble in object detection by creating confusion in model reasoning, thereby reducing the informativeness of the data. It can lead to inaccurate recognition due to the shift in the observed pattern, that…

Point cloud upsampling is to densify a sparse point set acquired from 3D sensors, providing a denser representation for the underlying surface. Existing methods divide the input points into small patches and upsample each patch separately,…

This paper proposes an innovative approach to Hierarchical Edge Aware 3D Point Cloud Learning (HEA-Net) that seeks to address the challenges of noise in point cloud data, and improve object recognition and segmentation by focusing on edge…