相关论文: Enhancing Sampling Protocol for Point Cloud Classi…

Robust 3D perception under corruption has become an essential task for the realm of 3D vision. While current data augmentation techniques usually perform random transformations on all point cloud objects in an offline way and ignore the…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

3D perception, especially point cloud classification, has achieved substantial progress. However, in real-world deployment, point cloud corruptions are inevitable due to the scene complexity, sensor inaccuracy, and processing imprecision.…

Current models for point cloud recognition demonstrate promising performance on synthetic datasets. However, real-world point cloud data inevitably contains noise, impacting model robustness. While recent efforts focus on enhancing…

There is a growing number of tasks that work directly on point clouds. As the size of the point cloud grows, so do the computational demands of these tasks. A possible solution is to sample the point cloud first. Classic sampling…

Processing large point clouds is a challenging task. Therefore, the data is often downsampled to a smaller size such that it can be stored, transmitted and processed more efficiently without incurring significant performance degradation.…

Due to scene complexity, sensor inaccuracies, and processing imprecision, point cloud corruption is inevitable. Over-reliance on input features is the root cause of DNN vulnerabilities. It remains unclear whether this issue exists in 3D…

Most existing point cloud upsampling methods have roughly three steps: feature extraction, feature expansion and 3D coordinate prediction. However,they usually suffer from two critical issues: (1)fixed upsampling rate after one-time…

The task of point cloud upsampling aims to acquire dense and uniform point sets from sparse and irregular point sets. Although significant progress has been made with deep learning models, state-of-the-art methods require ground-truth dense…

3D point clouds are increasingly vital for applications like autonomous driving and robotics, yet the raw data captured by sensors often suffer from noise and sparsity, creating challenges for downstream tasks. Consequently, point cloud…

The growing size of point clouds enlarges consumptions of storage, transmission, and computation of 3D scenes. Raw data is redundant, noisy, and non-uniform. Therefore, simplifying point clouds for achieving compact, clean, and uniform…

3D point cloud classification has many safety-critical applications such as autonomous driving and robotic grasping. However, several studies showed that it is vulnerable to adversarial attacks. In particular, an attacker can make a…

Raw point clouds data inevitably contains outliers or noise through acquisition from 3D sensors or reconstruction algorithms. In this paper, we present a novel end-to-end network for robust point clouds processing, named PointASNL, which…

Efficient processing and feature extraction of largescale point clouds are important in related computer vision and cyber-physical systems. This work investigates point cloud resampling based on hypergraph signal processing (HGSP) to better…

Point cloud upsampling focuses on generating a dense, uniform and proximity-to-surface point set. Most previous approaches accomplish these objectives by carefully designing a single-stage network, which makes it still challenging to…

Pre-trained point cloud analysis models have shown promising advancements in various downstream tasks, yet their effectiveness is typically suffering from low-quality point cloud (i.e., noise and incompleteness), which is a common issue in…

Accurate 3D geometry acquisition is essential for a wide range of applications, such as computer graphics, autonomous driving, robotics, and augmented reality. However, raw point clouds acquired in real-world environments are often…

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…

Despite recent advancements in deep neural networks for point cloud recognition, real-world safety-critical applications present challenges due to unavoidable data corruption. Current models often fall short in generalizing to unforeseen…

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.,…