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Compressing massive LiDAR point clouds in real-time is critical to autonomous machines such as drones and self-driving cars. While most of the recent prior work has focused on compressing individual point cloud frames, this paper proposes a…

We introduce a novel framework for Continual Learning in 3D object classification. Our approach, CL3D, is based on the selection of prototypes from each class using spectral clustering. For non-Euclidean data such as point clouds, spectral…

3D building models with facade details are playing an important role in many applications now. Classifying point clouds at facade-level is key to create such digital replicas of the real world. However, few studies have focused on such…

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…

Few prior works study deep learning on point sets. PointNet by Qi et al. is a pioneer in this direction. However, by design PointNet does not capture local structures induced by the metric space points live in, limiting its ability to…

Semantic recognition is pivotal in virtual reality (VR) applications, enabling immersive and interactive experiences. A promising approach is utilizing millimeter-wave (mmWave) signals to generate point clouds. However, the high…

Understanding dynamic 4D environments-3D space evolving over time-is critical for robotic and interactive systems. These applications demand systems that can process streaming point cloud video in real-time, often under resource…

Edge points on 3D point clouds can clearly convey 3D geometry and surface characteristics, therefore, edge detection is widely used in many vision applications with high industrial and commercial demands. However, the fine-grained edge…

Common deep learning models for 3D environment perception often use pillarization/voxelization methods to convert point cloud data into pillars/voxels and then process it with a 2D/3D convolutional neural network (CNN). The pioneer work…

As three-dimensional (3D) data acquisition devices become increasingly prevalent, the demand for 3D point cloud transmission is growing. In this study, we introduce a semantic-aware communication system for robust point cloud classification…

Topological Data Analysis (TDA) allows us to extract powerful topological and higher-order information on the global shape of a data set or point cloud. Tools like Persistent Homology or the Euler Transform give a single complex description…

Although accurate and fast point cloud classification is a fundamental task in 3D applications, it is difficult to achieve this purpose due to the irregularity and disorder of point clouds that make it challenging to achieve effective and…

Human pose estimation focuses on predicting body keypoints to analyze human motion. Currently, most pose estimation tasks rely on conventional RGB cameras. In contrast, event cameras provide high temporal resolution and low latency,…

In this work we introduce Lean Point Networks (LPNs) to train deeper and more accurate point processing networks by relying on three novel point processing blocks that improve memory consumption, inference time, and accuracy: a…

Manually annotating complex scene point cloud datasets is both costly and error-prone. To reduce the reliance on labeled data, a new model called SnapshotNet is proposed as a self-supervised feature learning approach, which directly works…

Deep learning with 3D data has progressed significantly since the introduction of convolutional neural networks that can handle point order ambiguity in point cloud data. While being able to achieve good accuracies in various scene…

This paper investigates the problem of temporally interpolating dynamic 3D point clouds with large non-rigid deformation. We formulate the problem as estimation of point-wise trajectories (i.e., smooth curves) and further reason that…

PointNet++ is one of the most influential neural architectures for point cloud understanding. Although the accuracy of PointNet++ has been largely surpassed by recent networks such as PointMLP and Point Transformer, we find that a large…

Point clouds are a key modality used for perception in autonomous vehicles, providing the means for a robust geometric understanding of the surrounding environment. However despite the sensor outputs from autonomous vehicles being naturally…

Data augmentation is a powerful technique to enhance the performance of a deep learning task but has received less attention in 3D deep learning. It is well known that when 3D shapes are sparsely represented with low point density, the…