相关论文: Unsupervised Point Cloud Completion through Unbala…

Most existing point cloud completion methods are only applicable to partial point clouds without any noises and outliers, which does not always hold in practice. We propose in this paper an end-to-end network, named CS-Net, to complete the…

Aggregating data from multiple sources can be formalized as an Optimal Transport (OT) barycenter problem, which seeks to compute the average of probability distributions with respect to OT discrepancies. However, in real-world scenarios,…

3D scanning is a complex multistage process that generates a point cloud of an object typically containing damaged parts due to occlusions, reflections, shadows, scanner motion, specific properties of the object surface, imperfect…

Federated learning has attracted increasing attention due to the promise of balancing privacy and large-scale learning; numerous approaches have been proposed. However, most existing approaches focus on problems with balanced data, and…

Multi-view clustering (MVC), which effectively fuses information from multiple views for better performance, has received increasing attention. Most existing MVC methods assume that multi-view data are fully paired, which means that the…

In this paper, we present a new method that reformulates point cloud completion as a set-to-set translation problem and design a new model, called PoinTr, which adopts a Transformer encoder-decoder architecture for point cloud completion.…

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…

We propose and study a method called FLOT that estimates scene flow on point clouds. We start the design of FLOT by noticing that scene flow estimation on point clouds reduces to estimating a permutation matrix in a perfect world. Inspired…

This work extends our prior work on the distributed nonlinear model predictive control (NMPC) for navigating a robot fleet following a certain flocking behavior in unknown obstructed environments with a more realistic local obstacle…

Segmentation of three-dimensional (3D) point clouds is an important task for autonomous systems. However, success of segmentation algorithms depends greatly on the quality of the underlying point clouds (resolution, completeness etc.). In…

Point cloud completion aims to recover complete 3D geometry from partial observations caused by limited viewpoints and occlusions. Existing learning-based works, including 3D Convolutional Neural Network (CNN)-based, point-based, and…

Many municipalities and large organizations have fleets of vehicles that need to be coordinated for tasks such as garbage collection or infrastructure inspection. Motivated by this need, this paper focuses on the common subproblem in which…

Unsupervised change detection between airborne LiDAR data points, taken at separate times over the same location, can be difficult due to unmatching spatial support and noise from the acquisition system. Most current approaches to detect…

Optimal Transport (OT) naturally arises in many machine learning applications, yet the heavy computational burden limits its wide-spread uses. To address the scalability issue, we propose an implicit generative learning-based framework…

Fog computing is an emerging distributed computing model for the Internet of Things (IoT). It extends computing and caching functions to the edge of wireless networks. Uncrewed Aerial Vehicles (UAVs) provide adequate support for fog…

Point cloud registration is a key task in many computational fields. Previous correspondence matching based methods require the inputs to have distinctive geometric structures to fit a 3D rigid transformation according to point-wise sparse…

Freight consolidation has significant potential to reduce transportation costs and mitigate congestion and pollution. An effective load consolidation plan relies on carefully chosen consolidation points to ensure alignment with existing…

Conformal prediction (CP) quantifies the uncertainty of machine learning models by constructing sets of plausible outputs. These sets are constructed by leveraging a so-called conformity score, a quantity computed using the input point of…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

Point cloud registration is a fundamental problem in 3D computer vision. In this paper, we cast point cloud registration into a planning problem in reinforcement learning, which can seek the transformation between the source and target…