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

Point clouds captured by scanning sensors are often perturbed by noise, which have a highly negative impact on downstream tasks (e.g. surface reconstruction and shape understanding). Previous works mostly focus on training neural networks…

It has been shown that perturbing the input during training implicitly regularises the gradient of the learnt function, leading to smoother models and enhancing generalisation. However, previous research mostly considered the addition of…

Orienting surface normals correctly and consistently is a fundamental problem in geometry processing. Applications such as visualization, feature detection, and geometry reconstruction often rely on the availability of correctly oriented…

This article introduces three-filters-to-normal+ (3F2N+), an extension of our previous work three-filters-to-normal (3F2N), with a specific focus on incorporating discontinuity discrimination capability into surface normal estimators…

3D articulated objects are inherently challenging for manipulation due to the varied geometries and intricate functionalities associated with articulated objects.Point-level affordance, which predicts the per-point actionable score and thus…

The performance of 3D object detection models over point clouds highly depends on their capability of modeling local geometric patterns. Conventional point-based models exploit local patterns through a symmetric function (e.g. max pooling)…

Mesh denoising is a critical technology in geometry processing that aims to recover high-fidelity 3D mesh models of objects from their noise-corrupted versions. In this work, we propose a learning-based normal filtering scheme for mesh…

We present a novel method for reconstructing a 3D implicit surface from a large-scale, sparse, and noisy point cloud. Our approach builds upon the recently introduced Neural Kernel Fields (NKF) representation. It enjoys similar…

Point cloud reconstruction from raw point cloud has been an important topic in computer graphics for decades, especially due to its high demand in modeling and rendering applications. An important way to solve this problem is establishing a…

As 3D scanning devices and depth sensors mature, point clouds have attracted increasing attention as a format for 3D object representation, with applications in various fields such as tele-presence, navigation and heritage reconstruction.…

Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In…

Neural surface reconstruction has been dominated by implicit representations with marching cubes for explicit surface extraction. However, those methods typically require high-quality normals for accurate reconstruction. We propose…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

LiDAR is widely used to capture accurate 3D outdoor scene structures. However, LiDAR produces many undesirable noise points in snowy weather, which hamper analyzing meaningful 3D scene structures. Semantic segmentation with snow labels…

Over the past two decades, we have seen an exponentially increased amount of point clouds collected with irregular shapes in various areas. Motivated by the importance of solid modeling for point clouds, we develop a novel and efficient…

Designing a point cloud upsampler, which aims to generate a clean and dense point cloud given a sparse point representation, is a fundamental and challenging problem in computer vision. A line of attempts achieves this goal by establishing…

Falsely annotated samples, also known as noisy labels, can significantly harm the performance of deep learning models. Two main approaches for learning with noisy labels are global noise estimation and data filtering. Global noise…

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…

We present a novel method for reliably explaining the predictions of neural networks. We consider an explanation reliable if it identifies input features relevant to the model output by considering the input and the neighboring data points.…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…