相关论文: Learning Normals of Noisy Points by Local Gradient…

Visual imitation learning with 3D point clouds has advanced robotic manipulation by providing geometry-aware, appearance-invariant observations. However, point cloud-based policies remain highly sensitive to sensor noise, pose…

Point clouds are the native output of many real-world 3D sensors. To borrow the success of 2D convolutional network architectures, a majority of popular 3D perception models voxelize the points, which can result in a loss of local geometric…

When 3D-point clouds from overhead sensors are used as input to remote sensing data exploitation pipelines, a large amount of effort is devoted to data preparation. Among the multiple stages of the preprocessing chain, estimating the…

We introduce a novel self-attention-based normal estimation network that is able to focus softly on relevant points and adjust the softness by learning a temperature parameter, making it able to work naturally and effectively within a large…

Seismic data denoising is an important part of seismic data processing, which directly relate to the follow-up processing of seismic data. In terms of this issue, many authors proposed many methods based on rank reduction, sparse…

Point cloud registration is to estimate a transformation to align point clouds collected in different perspectives. In learning-based point cloud registration, a robust descriptor is vital for high-accuracy registration. However, most…

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.…

3D point cloud - a new signal representation of volumetric objects - is a discrete collection of triples marking exterior object surface locations in 3D space. Conventional imperfect acquisition processes of 3D point cloud - e.g.,…

Learning-based 3D reconstruction using implicit neural representations has shown promising progress not only at the object level but also in more complicated scenes. In this paper, we propose Dynamic Plane Convolutional Occupancy Networks,…

Learning-based point cloud registration methods can handle clean point clouds well, while it is still challenging to generalize to noisy, partial, and density-varying point clouds. To this end, we propose a novel point cloud registration…

Due to limitations in acquisition equipment, noise perturbations often corrupt 3-D point clouds, hindering down-stream tasks such as surface reconstruction, rendering, and further processing. Existing 3-D point cloud denoising methods…

Point cloud source data for surface reconstruction is usually contaminated with noise and outliers. To overcome this deficiency, a density-based point cloud denoising method is presented to remove outliers and noisy points. First,…

Representing 3D objects and scenes with neural radiance fields has become very popular over the last years. Recently, surface-based representations have been proposed, that allow to reconstruct 3D objects from simple photographs. However,…

Surface reconstruction from point clouds is vital for 3D computer vision. State-of-the-art methods leverage large datasets to first learn local context priors that are represented as neural network-based signed distance functions (SDFs)…

Point cloud surface reconstruction has improved in accuracy with advances in deep learning, enabling applications such as infrastructure inspection. Recent approaches that reconstruct from small local regions rather than entire point clouds…

Normalizing Flows (NFs) are flexible explicit generative models that have been shown to accurately model complex real-world data distributions. However, their invertibility constraint imposes limitations on data distributions that reside on…

We introduce a novel technique for neural point cloud consolidation which learns from only the input point cloud. Unlike other point upsampling methods which analyze shapes via local patches, in this work, we learn from global subsets. We…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…

Oriented normals are common pre-requisites for many geometric algorithms based on point clouds, such as Poisson surface reconstruction. However, it is not trivial to obtain a consistent orientation. In this work, we bridge orientation and…

Existing position based point cloud filtering methods can hardly preserve sharp geometric features. In this paper, we rethink point cloud filtering from a non-learning non-local non-normal perspective, and propose a novel position based…