相关论文: ModelNet40-E: An Uncertainty-Aware Benchmark for P…

Building on recent advances in Bayesian statistics and image denoising, we propose Noise2Score3D, a fully unsupervised framework for point cloud denoising that addresses the critical challenge of limited availability of clean data.…

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…

Point cloud normal estimation is a fundamental task in 3D geometry processing. While recent learning-based methods achieve notable advancements in normal prediction, they often overlook the critical aspect of equivariance. This results in…

Point cloud segmentation is a fundamental task in 3D. Despite recent progress on point cloud segmentation with the power of deep networks, current learning methods based on the clean label assumptions may fail with noisy labels. Yet, class…

Adverse weather conditions such as snow, fog, and rain pose significant challenges to LiDAR-based perception models by introducing noise and corrupting point cloud measurements. To address this issue, we propose TripleMixer, a robust and…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

The classification of 3D point clouds is crucial for applications such as autonomous driving, robotics, and augmented reality. However, the commonly used ModelNet40 dataset suffers from limitations such as inconsistent labeling, 2D data,…

Point clouds obtained with 3D scanners or by image-based reconstruction techniques are often corrupted with significant amount of noise and outliers. Traditional methods for point cloud denoising largely rely on local surface fitting (e.g.,…

Building on recent advances in Bayesian statistics and image denoising, we propose Noise2Score3D, a fully unsupervised framework for point cloud denoising. Noise2Score3D learns the score function of the underlying point cloud distribution…

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 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…

This paper presents CALM-Net, a curvature-aware LiDAR point cloud-based multi-branch neural network for vehicle re-identification. The proposed model addresses the challenge of learning discriminative and complementary features from…

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…

LiDAR-based 3D point cloud recognition has been proven beneficial in various applications. However, the sparsity and varying density pose a significant challenge in capturing intricate details of objects, particularly for medium-range and…

This paper proposes an innovative approach to Hierarchical Edge Aware 3D Point Cloud Learning (HEA-Net) that seeks to address the challenges of noise in point cloud data, and improve object recognition and segmentation by focusing on edge…

Deep learning techniques for point cloud data have demonstrated great potentials in solving classical problems in 3D computer vision such as 3D object classification and segmentation. Several recent 3D object classification methods have…

Current models for point cloud recognition demonstrate promising performance on synthetic datasets. However, real-world point cloud data inevitably contains noise, impacting model robustness. While recent efforts focus on enhancing…

Point cloud denoising aims to restore clean point clouds from raw observations corrupted by noise and outliers while preserving the fine-grained details. We present a novel deep learning-based denoising model, that incorporates normalizing…

The use of Deep Neural Network (DNN) models in risk-based decision-making has attracted extensive attention with broad applications in medical, finance, manufacturing, and quality control. To mitigate prediction-related risks in decision…

Point normal, as an intrinsic geometric property of 3D objects, not only serves conventional geometric tasks such as surface consolidation and reconstruction, but also facilitates cutting-edge learning-based techniques for shape analysis…