相关论文: RealDiff: Real-world 3D Shape Completion using Sel…

3D scene flow estimation aims to estimate point-wise motions between two consecutive frames of point clouds. Superpoints, i.e., points with similar geometric features, are usually employed to capture similar motions of local regions in 3D…

In this paper the argument is made that for true novel view synthesis of objects, where the object can be synthesized from any viewpoint, an explicit 3D shape representation isdesired. Our method estimates point clouds to capture the…

Semi-supervised object detection is crucial for 3D scene understanding, efficiently addressing the limitation of acquiring large-scale 3D bounding box annotations. Existing methods typically employ a teacher-student framework with…

In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…

A major challenge in reconstructing buildings from LiDAR point clouds lies in accurately capturing building surfaces under varying point densities and noise interference. To flexibly gather high-quality 3D profiles of the building in…

We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations into structured robot states-such as 3D keypoints or joint…

Point cloud completion aims to recover raw point clouds captured by scanners from partial observations caused by occlusion and limited view angles. This makes it hard to recover details because the global feature is unlikely to capture the…

In this paper, we propose a pipeline to generate 3D point cloud of an object from a single-view RGB image. Most previous work predict the 3D point coordinates from single RGB images directly. We decompose this problem into depth estimation…

Though a number of point cloud learning methods have been proposed to handle unordered points, most of them are supervised and require labels for training. By contrast, unsupervised learning of point cloud data has received much less…

Shape completion, the problem of estimating the complete geometry of objects from partial observations, lies at the core of many vision and robotics applications. In this work, we propose Point Completion Network (PCN), a novel…

Training diffusion models that work directly on lidar points at the scale of outdoor scenes is challenging due to the difficulty of generating fine-grained details from white noise over a broad field of view. The latest works addressing…

Image completion is a challenging task, particularly when ensuring that generated content seamlessly integrates with existing parts of an image. While recent diffusion models have shown promise, they often struggle with maintaining…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

Developing effective visual inspection models remains challenging due to the scarcity of defect data. While image generation models have been used to synthesize defect images, producing highly realistic defects remains difficult. We propose…

We present a novel neural implicit shape method for partial point cloud completion. To that end, we combine a conditional Deep-SDF architecture with learned, adversarial shape priors. More specifically, our network converts partial inputs…

3D dynamic point clouds provide a discrete representation of real-world objects or scenes in motion, which have been widely applied in immersive telepresence, autonomous driving, surveillance, etc. However, point clouds acquired from…

Point clouds collected from real-world environments are often incomplete due to factors such as limited sensor resolution, single viewpoints, occlusions, and noise. These challenges make point cloud completion essential for various…

Semantic scene understanding from point clouds is particularly challenging as the points reflect only a sparse set of the underlying 3D geometry. Previous works often convert point cloud into regular grids (e.g. voxels or bird-eye view…

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.…

There has been recently a growing interest for implicit shape representations. Contrary to explicit representations, they have no resolution limitations and they easily deal with a wide variety of surface topologies. To learn these implicit…