相关论文: Towards Fusing Point Cloud and Visual Representati…

We present a novel graph-neural-network-based system to effectively represent large-scale 3D point clouds with the applications to autonomous driving. Many previous works studied the representations of 3D point clouds based on two…

Point cloud data has been extensively studied due to its compact form and flexibility in representing complex 3D structures. The ability of point cloud data to accurately capture and represent intricate 3D geometry makes it an ideal choice…

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…

Point cloud registration has seen significant advancements with the application of deep learning techniques. However, existing approaches often overlook the potential of integrating radiometric information from RGB images. This limitation…

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,…

In this paper, we propose a novel learning-based pipeline for partially overlapping 3D point cloud registration. The proposed model includes an iterative distance-aware similarity matrix convolution module to incorporate information from…

We introduce Point2Skeleton, an unsupervised method to learn skeletal representations from point clouds. Existing skeletonization methods are limited to tubular shapes and the stringent requirement of watertight input, while our method aims…

We describe a novel approach to indoor place recognition from RGB point clouds based on aggregating low-level colour and geometry features with high-level implicit semantic features. It uses a 2-stage deep learning framework, in which the…

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,…

Efficient analysis of point clouds holds paramount significance in real-world 3D applications. Currently, prevailing point-based models adhere to the PointNet++ methodology, which involves embedding and abstracting point features within a…

Point cloud processing is a challenging task due to its sparsity and irregularity. Prior works introduce delicate designs on either local feature aggregator or global geometric architecture, but few combine both advantages. We propose…

Vector quantization has emerged as a powerful tool in large-scale multimodal models, unifying heterogeneous representations through discrete token encoding. However, its effectiveness hinges on robust codebook design. Current…

We present a learning-based method for interpolating and manipulating 3D shapes represented as point clouds, that is explicitly designed to preserve intrinsic shape properties. Our approach is based on constructing a dual encoding space…

Point cloud analysis has evolved with diverse network architectures, while existing works predominantly focus on introducing novel structural designs. However, conventional point-based architectures - processing raw points through…

Radar perception models are trained with different inputs, from range-Doppler spectra to sparse point clouds. Dense spectra are assumed to outperform sparse point clouds, yet they can vary considerably across sensors and configurations,…

In this paper, we propose a novel variable rate deep compression architecture that operates on raw 3D point cloud data. The majority of learning-based point cloud compression methods work on a downsampled representation of the data.…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…

Existing techniques to compress point cloud attributes leverage either geometric or video-based compression tools. We explore a radically different approach inspired by recent advances in point cloud representation learning. Point clouds…

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…