相关论文: RGB2Point: 3D Point Cloud Generation from Single R…

3D world models (i.e., learning-based 3D dynamics models) offer a promising approach to generalizable robotic manipulation by capturing the underlying physics of environment evolution conditioned on robot actions. However, existing 3D world…

Point clouds are a 3D space representation of an environment that was recorded with a high precision laser scanner. These scanners can suffer from environmental interference such as surface shading, texturing, and reflections. Because of…

Existing deep learning methods for the reconstruction and denoising of point clouds rely on small datasets of 3D shapes. We circumvent the problem by leveraging deep learning methods trained on billions of images. We propose a method to…

In recent years, point clouds have become increasingly popular for representing three-dimensional (3D) visual objects and scenes. To efficiently store and transmit point clouds, compression methods have been developed, but they often result…

In this paper, we present Position-to-Structure Attention Transformers (PS-Former), a Transformer-based algorithm for 3D point cloud recognition. PS-Former deals with the challenge in 3D point cloud representation where points are not…

Point cloud based methods have produced promising results in areas such as 3D object detection in autonomous driving. However, most of the recent point cloud work focuses on single depth sensor data, whereas less work has been done on…

Contemporary registration devices for 3D visual information, such as LIDARs and various depth cameras, capture data as 3D point clouds. In turn, such clouds are challenging to be processed due to their size and complexity. Existing methods…

We present a new point-based approach for modeling the appearance of real scenes. The approach uses a raw point cloud as the geometric representation of a scene, and augments each point with a learnable neural descriptor that encodes local…

In this work, we propose a novel two-stage framework for the efficient 3D point cloud object detection. Instead of transforming point clouds into 2D bird eye view projections, we parse the raw point cloud data directly in the 3D space yet…

We present a novel diffusion-based approach for coherent 3D scene reconstruction from a single RGB image. Our method utilizes an image-conditioned 3D scene diffusion model to simultaneously denoise the 3D poses and geometries of all objects…

Recently, graph-based and Transformer-based deep learning networks have demonstrated excellent performances on various point cloud tasks. Most of the existing graph methods are based on static graph, which take a fixed input to establish…

Point cloud completion aims to generate a complete and high-fidelity point cloud from an initially incomplete and low-quality input. A prevalent strategy involves leveraging Transformer-based models to encode global features and facilitate…

Accurate three-dimensional perception is a fundamental task in several computer vision applications. Recently, commercial RGB-depth (RGB-D) cameras have been widely adopted as single-view depth-sensing devices owing to their efficient…

Three-dimensional urban reconstruction of buildings from single-view images has attracted significant attention over the past two decades. However, recent methods primarily focus on rooftops from aerial images, often overlooking essential…

Unsupervised point cloud segmentation is critical for embodied artificial intelligence and autonomous driving, as it mitigates the prohibitive cost of dense point-level annotations required by fully supervised methods. While integrating 2D…

The millimeter-wave radar sensor maintains stable performance under adverse environmental conditions, making it a promising solution for all-weather perception tasks, such as outdoor mobile robotics. However, the radar point clouds are…

We introduce TransformerFusion, a transformer-based 3D scene reconstruction approach. From an input monocular RGB video, the video frames are processed by a transformer network that fuses the observations into a volumetric feature grid…

Differentiable rendering is a very successful technique that applies to a Single-View 3D Reconstruction. Current renderers use losses based on pixels between a rendered image of some 3D reconstructed object and ground-truth images from…

Point cloud completion estimates complete shapes from incomplete point clouds to obtain higher-quality point cloud data. Most existing methods only consider global object features, ignoring spatial and semantic information of adjacent…

Learning an effective representation of 3D point clouds requires a good metric to measure the discrepancy between two 3D point sets, which is non-trivial due to their irregularity. Most of the previous works resort to using the Chamfer…