相关论文: Efficient 3D Perception on Multi-Sweep Point Cloud…

Point clouds are a popular representation for 3D shapes. However, they encode a particular sampling without accounting for shape priors or non-local information. We advocate for the use of a hierarchical Gaussian mixture model (hGMM), which…

Inspired by recent improvements in point cloud processing for autonomous navigation, we focus on using hierarchical graph neural networks for processing and feature learning over large-scale outdoor LiDAR point clouds. We observe that…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…

3D object detection from monocular image(s) is a challenging and long-standing problem of computer vision. To combine information from different perspectives without troublesome 2D instance tracking, recent methods tend to aggregate…

Point clouds produced by 3D scanning are often sparse, non-uniform, and noisy. Recent upsampling approaches aim to generate a dense point set, while achieving both distribution uniformity and proximity-to-surface, and possibly amending…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Point clouds upsampling is a challenging issue to generate dense and uniform point clouds from the given sparse input. Most existing methods either take the end-to-end supervised learning based manner, where large amounts of pairs of sparse…

Driven by the increasing demand for accurate and efficient representation of 3D data in various domains, point cloud sampling has emerged as a pivotal research topic in 3D computer vision. Recently, learning-to-sample methods have garnered…

We are interested in reconstructing the mesh representation of object surfaces from point clouds. Surface reconstruction is a prerequisite for downstream applications such as rendering, collision avoidance for planning, animation, etc.…

Scanning real-life scenes with modern registration devices typically gives incomplete point cloud representations, primarily due to the limitations of partial scanning, 3D occlusions, and dynamic light conditions. Recent works on processing…

Pre-trained 3D vision models have gained significant attention for their promising performance on point cloud data. However, fully fine-tuning these models for downstream tasks is computationally expensive and storage-intensive. Existing…

Deep neural networks have revolutionized 3D point cloud processing, yet efficiently handling large and irregular point clouds remains challenging. To tackle this problem, we introduce FastPoint, a novel software-based acceleration technique…

Robotic branch pruning is a significantly growing research area to cope with the shortage of labor force in the context of agriculture. One fundamental requirement in robotic pruning is the perception of detailed geometry and topology of…

In recent times, there has been a notable surge in multimodal approaches that decorates raw LiDAR point clouds with camera-derived features to improve object detection performance. However, we found that these methods still grapple with the…

Recently, immersive media and autonomous driving applications have significantly advanced through 3D Gaussian Splatting (3DGS), which offers high-fidelity rendering and computational efficiency. Despite these advantages, 3DGS as a…

We present a novel lightweight convolutional neural network for point cloud analysis. In contrast to many current CNNs which increase receptive field by downsampling point cloud, our method directly operates on the entire point sets without…

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…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

Learning point clouds is challenging due to the lack of connectivity information, i.e., edges. Although existing edge-aware methods can improve the performance by modeling edges, how edges contribute to the improvement is unclear. In this…

3D Gaussian Splatting (3DGS) is a powerful alternative to Neural Radiance Fields (NeRF), excelling in complex scene reconstruction and efficient rendering. However, it relies on high-quality point clouds from Structure-from-Motion (SfM),…