相关论文: ProtoSeg: A Prototype-Based Point Cloud Instance S…

3D point clouds directly collected from objects through sensors are often incomplete due to self-occlusion. Conventional methods for completing these partial point clouds rely on manually organized training sets and are usually limited to…

Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. However, applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the…

Instance segmentation is essential for numerous computer vision applications, including robotics, human-computer interaction, and autonomous driving. Currently, popular models bring impressive performance in instance segmentation by…

Robust imitation learning for robot manipulation requires comprehensive 3D perception, yet many existing methods struggle in cluttered environments. Fixed camera view approaches are vulnerable to perspective changes, and 3D point cloud…

We introduce AdaCoSeg, a deep neural network architecture for adaptive co-segmentation of a set of 3D shapes represented as point clouds. Differently from the familiar single-instance segmentation problem, co-segmentation is intrinsically…

Current semantic segmentation approaches for point cloud scenes heavily rely on manual labeling, while research on unsupervised semantic segmentation methods specifically for raw point clouds is still in its early stages. Unsupervised point…

We introduce a highly efficient method for panoptic segmentation of large 3D point clouds by redefining this task as a scalable graph clustering problem. This approach can be trained using only local auxiliary tasks, thereby eliminating the…

We present a method for jointly predicting instance-level roof segment masks together with three continuous geometric attributes -- building height, roof slope, and roof azimuth -- from a single aerial orthophoto. Our approach extends Mask…

We introduce a 3D instance representation, termed instance kernels, where instances are represented by one-dimensional vectors that encode the semantic, positional, and shape information of 3D instances. We show that instance kernels enable…

Understanding point cloud has recently gained huge interests following the development of 3D scanning devices and the accumulation of large-scale 3D data. Most point cloud processing algorithms can be classified as either point-based or…

We propose a novel method for instance label segmentation of dense 3D voxel grids. We target volumetric scene representations, which have been acquired with depth sensors or multi-view stereo methods and which have been processed with…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

Most existing instance segmentation methods only focus on improving performance and are not suitable for real-time scenes such as autonomous driving. This paper proposes a real-time framework that segmenting and detecting 3D objects by…

Recent approaches for few-shot 3D point cloud semantic segmentation typically require a two-stage learning process, i.e., a pre-training stage followed by a few-shot training stage. While effective, these methods face overreliance on…

Conventional methods of 3D object generative modeling learn volumetric predictions using deep networks with 3D convolutional operations, which are direct analogies to classical 2D ones. However, these methods are computationally wasteful in…

We propose an embarrassingly simple point annotation scheme to collect weak supervision for instance segmentation. In addition to bounding boxes, we collect binary labels for a set of points uniformly sampled inside each bounding box. We…

Most existing 3D point cloud object detection approaches heavily rely on large amounts of labeled training data. However, the labeling process is costly and time-consuming. This paper considers few-shot 3D point cloud object detection,…

Object recognition and instance segmentation are fundamental skills in any robotic or autonomous system. Existing state-of-the-art methods are often unable to capture meaningful uncertainty in challenging or ambiguous scenes, and as such…

Point cloud completion is the task of predicting complete geometry from partial observations using a point set representation for a 3D shape. Previous approaches propose neural networks to directly estimate the whole point cloud through…

Recognizing human actions from point cloud sequence has attracted tremendous attention from both academia and industry due to its wide applications. However, most previous studies on point cloud action recognition typically require complex…