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Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

In this paper, we propose Neural Points, a novel point cloud representation and apply it to the arbitrary-factored upsampling task. Different from traditional point cloud representation where each point only represents a position or a local…

Point cloud data is pivotal in applications like autonomous driving, virtual reality, and robotics. However, its substantial volume poses significant challenges in storage and transmission. In order to obtain a high compression ratio,…

The scale and quality of point cloud datasets constrain the advancement of point cloud learning. Recently, with the development of multi-modal learning, the incorporation of domain-agnostic prior knowledge from other modalities, such as…

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…

In this paper, we propose PCPNet, a deep-learning based approach for estimating local 3D shape properties in point clouds. In contrast to the majority of prior techniques that concentrate on global or mid-level attributes, e.g., for shape…

Vision transformers (ViTs) have recently been widely applied to 3D point cloud understanding, with masked autoencoding as the predominant pre-training paradigm. However, the challenge of learning dense and informative semantic features from…

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…

Protein representation learning is critical in various tasks in biology, such as drug design and protein structure or function prediction, which has primarily benefited from protein language models and graph neural networks. These models…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

Point clouds are a fundamental representation for robotic perception tasks such as localization, mapping, and object pose estimation. However, LiDAR-acquired point clouds are inherently sparse and non-uniform, providing incomplete…

Point clouds are extensively employed in a variety of real-world applications such as robotics, autonomous driving and augmented reality. Despite the recent success of point cloud neural networks, especially for safety-critical tasks, it is…

In this paper, we propose PointRCNN for 3D object detection from raw point cloud. The whole framework is composed of two stages: stage-1 for the bottom-up 3D proposal generation and stage-2 for refining proposals in the canonical…

In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…

Nowadays, pre-training big models on large-scale datasets has become a crucial topic in deep learning. The pre-trained models with high representation ability and transferability achieve a great success and dominate many downstream tasks in…

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 is an important data structure for a wide range of applications, including robotics, AR/VR, and autonomous driving. To process the point cloud, many deep-learning-based point cloud recognition algorithms have been proposed.…

While three-dimensional (3D) building models play an increasingly pivotal role in many real-world applications, obtaining a compact representation of buildings remains an open problem. In this paper, we present a novel framework for…

Fine-grained geometry, captured by aggregation of point features in local regions, is crucial for object recognition and scene understanding in point clouds. Nevertheless, existing preeminent point cloud backbones usually incorporate…

Point cloud video representation learning is challenging due to complex structures and unordered spatial arrangement. Traditional methods struggle with frame-to-frame correlations and point-wise correspondence tracking. Recently, partial…