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

Point cloud completion is crucial for 3D computer vision tasks in autonomous driving, augmented reality, and robotics. However, obtaining clean and complete point clouds from real-world environments is challenging due to noise and…

Point clouds are a set of data points in space to represent the 3D geometry of objects. A fundamental step in the processing is to identify a subset of points to represent the shape. While traditional sampling methods often ignore to…

Point cloud obtained from 3D scanning is often sparse, noisy, and irregular. To cope with these issues, recent studies have been separately conducted to densify, denoise, and complete inaccurate point cloud. In this paper, we advocate that…

In this work, to facilitate the real-time processing of multi-scan registration error minimization on factor graphs, we devise a point cloud downsampling algorithm based on coreset extraction. This algorithm extracts a subset of the…

Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…

Designing a point cloud upsampler, which aims to generate a clean and dense point cloud given a sparse point representation, is a fundamental and challenging problem in computer vision. A line of attempts achieves this goal by establishing…

Point cloud denoising task aims to recover the clean point cloud from the scanned data coupled with different levels or patterns of noise. The recent state-of-the-art methods often train deep neural networks to update the point locations…

Point cloud analysis is the cornerstone of many downstream tasks, among which aggregating local structures is the basis for understanding point cloud data. While numerous works aggregate neighbor using three-dimensional relative…

Geometrical structures and the internal local region relationship, such as symmetry, regular array, junction, etc., are essential for understanding a 3D shape. This paper proposes a point cloud feature extraction network named PointSCNet,…

In this case study, we present a data-efficient point cloud segmentation pipeline and training framework for robust segmentation of unimproved roads and seven other classes. Our method employs a two-stage training framework: first, a…

Self-supervised learning of point cloud aims to leverage unlabeled 3D data to learn meaningful representations without reliance on manual annotations. However, current approaches face challenges such as limited data diversity and inadequate…

This paper proposes a new method to infer keypoints from arbitrary object categories in practical scenarios where point cloud data (PCD) are noisy, down-sampled and arbitrarily rotated. Our proposed model adheres to the following…

We present PointAugment, a new auto-augmentation framework that automatically optimizes and augments point cloud samples to enrich the data diversity when we train a classification network. Different from existing auto-augmentation methods…

Sampling, grouping, and aggregation are three important components in the multi-scale analysis of point clouds. In this paper, we present a novel data-driven sampler learning strategy for point-wise analysis tasks. Unlike the widely used…

Learning to generate 3D point clouds without 3D supervision is an important but challenging problem. Current solutions leverage various differentiable renderers to project the generated 3D point clouds onto a 2D image plane, and train deep…

We present a comprehensive survey and benchmark of both traditional and learning-based methods for surface reconstruction from point clouds. This task is particularly challenging for real-world acquisitions due to factors such as noise,…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Scene flow estimation is a long-standing problem in computer vision, where the goal is to find the 3D motion of a scene from its consecutive observations. Recently, there have been efforts to compute the scene flow from 3D point clouds. A…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…