相关论文: PointPatchRL -- Masked Reconstruction Improves Rei…

We present an efficient and robust point cloud registration (PCR) workflow for part-wise rigid point cloud alignment using the Microsoft HoloLens 2. Point Cloud Registration (PCR) is an important problem in Augmented and Mixed Reality use…

Point cloud segmentation and classification are some of the primary tasks in 3D computer vision with applications ranging from augmented reality to robotics. However, processing point clouds using deep learning-based algorithms is quite…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

Point cloud analysis is challenging due to irregularity and unordered data structure. To capture the 3D geometries, prior works mainly rely on exploring sophisticated local geometric extractors using convolution, graph, or attention…

This paper presents Point Convolutional Neural Networks (PCNN): a novel framework for applying convolutional neural networks to point clouds. The framework consists of two operators: extension and restriction, mapping point cloud functions…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

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…

Place Recognition is a crucial capability for mobile robot localization and navigation. Image-based or Visual Place Recognition (VPR) is a challenging problem as scene appearance and camera viewpoint can change significantly when places are…

Point clouds have grown in importance in the way computers perceive the world. From LIDAR sensors in autonomous cars and drones to the time of flight and stereo vision systems in our phones, point clouds are everywhere. Despite their…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or…

The ever-increasing 3D application makes the point cloud compression unprecedentedly important and needed. In this paper, we propose a patch-based compression process using deep learning, focusing on the lossy point cloud geometry…

Point cloud segmentation (PCS) aims to make per-point predictions and enables robots and autonomous driving cars to understand the environment. The range image is a dense representation of a large-scale outdoor point cloud, and segmentation…

Point clouds have become increasingly vital across various applications thanks to their ability to realistically depict 3D objects and scenes. Nevertheless, effectively compressing unstructured, high-precision point cloud data remains a…

Point clouds are a fundamental 3D representation in computer vision, enabling a wide range of perception tasks. However, real-world point clouds often suffer from degradations such as incompleteness, noise, outliers, and irregular density,…

We present Point-BERT, a new paradigm for learning Transformers to generalize the concept of BERT to 3D point cloud. Inspired by BERT, we devise a Masked Point Modeling (MPM) task to pre-train point cloud Transformers. Specifically, we…

Recognizing human actions from point cloud videos has attracted tremendous attention from both academia and industry due to its wide applications like automatic driving, robotics, and so on. However, current methods for point cloud action…

Point clouds have become an increasingly important representation for 3D medical imaging, offering a compact, surface-preserving alternative to traditional voxel or mesh-based approaches. Recent advances in deep learning have enabled rapid…

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…

Recent years we have witnessed rapid development in NeRF-based image rendering due to its high quality. However, point clouds rendering is somehow less explored. Compared to NeRF-based rendering which suffers from dense spatial sampling,…