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

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…

We present a new two-stage 3D object detection framework, named sparse-to-dense 3D Object Detector (STD). The first stage is a bottom-up proposal generation network that uses raw point cloud as input to generate accurate proposals by…

LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…

Semantic segmentation of 3D point cloud is an essential task for autonomous driving environment perception. The pipeline of most pointwise point cloud semantic segmentation methods includes points sampling, neighbor searching, feature…

Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…

LiDAR-based 3D sensors provide point clouds, a canonical 3D representation used in various scene understanding tasks. Modern LiDARs face key challenges in several real-world scenarios, such as long-distance or low-albedo objects, producing…

As a popular representation of 3D data, point cloud may contain noise and need to be filtered before use. Existing point cloud filtering methods either cannot preserve sharp features or result in uneven point distribution in the filtered…

3D reconstruction from images is a core problem in computer vision. With recent advances in deep learning, it has become possible to recover plausible 3D shapes even from single RGB images for the first time. However, obtaining detailed…

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

3D Gaussian Splatting (3DGS) has emerged as a powerful technique for novel view synthesis. However, existing methods struggle to adaptively optimize the distribution of Gaussian primitives based on scene characteristics, making it…

We present a novel and effective method for detecting 3D primitives in cluttered, unorganized point clouds, without axillary segmentation or type specification. We consider the quadric surfaces for encapsulating the basic building blocks of…

Self-supervised learning of point cloud aims to leverage unlabeled 3D data to learn meaningful representations without reliance on manual annotations. However, current approaches face challenges such as limited data diversity and inadequate…

Pretraining on large labeled datasets is a prerequisite to achieve good performance in many computer vision tasks like 2D object recognition, video classification etc. However, pretraining is not widely used for 3D recognition tasks where…

Established sampling protocols for 3D point cloud learning, such as Farthest Point Sampling (FPS) and Fixed Sample Size (FSS), have long been relied upon. However, real-world data often suffer from corruptions, such as sensor noise, which…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

Point cloud is a collection of 3D coordinates that are discrete geometric samples of an object's 2D surfaces. Using a low-cost 3D scanner to acquire data means that point clouds are often in lower resolution than desired for rendering on…

3D point cloud completion, the task of inferring the complete geometric shape from a partial point cloud, has been attracting attention in the community. For acquiring high-fidelity dense point clouds and avoiding uneven distribution,…

In recent years, there has been a significant increase in the utilization of deep learning methods, particularly convolutional neural networks (CNNs), which have emerged as the dominant approach in various domains that involve structured…