相关论文: On-the-Fly Object-aware Representative Point Selec…

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…

Real-time 3D object detection is crucial for autonomous cars. Achieving promising performance with high efficiency, voxel-based approaches have received considerable attention. However, previous methods model the input space with features…

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…

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…

Point cloud has drawn more and more research attention as well as real-world applications. However, many of these applications (e.g. autonomous driving and robotic manipulation) are actually based on sequential point clouds (i.e. four…

This paper presents an effective few-shot point cloud semantic segmentation approach for real-world applications. Existing few-shot segmentation methods on point cloud heavily rely on the fully-supervised pretrain with large annotated…

The point cloud based 3D single object tracking has drawn increasing attention. Although many breakthroughs have been achieved, we also reveal two severe issues. By extensive analysis, we find the prediction manner of current approaches is…

LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…

Point cloud filtering is a fundamental problem in geometry modeling and processing. Despite of significant advancement in recent years, the existing methods still suffer from two issues: 1) they are either designed without preserving sharp…

Motion planning against sensor data is often a critical bottleneck in real-time robot control. For sampling-based motion planners, which are effective for high-dimensional systems such as manipulators, the most time-intensive component is…

3D point clouds are increasingly vital for applications like autonomous driving and robotics, yet the raw data captured by sensors often suffer from noise and sparsity, creating challenges for downstream tasks. Consequently, point cloud…

Many automated processes such as auto-piloting rely on a good semantic segmentation as a critical component. To speed up performance, it is common to downsample the input frame. However, this comes at the cost of missed small objects and…

Point cloud is a promising 3D representation for volumetric streaming in emerging AR/VR applications. Despite recent advances in point cloud compression, decoding and rendering high-quality images from lossy compressed point clouds is still…

Contemporary registration devices for 3D visual information, such as LIDARs and various depth cameras, capture data as 3D point clouds. In turn, such clouds are challenging to be processed due to their size and complexity. Existing methods…

Place recognition plays an essential role in the field of autonomous driving and robot navigation. Point cloud based methods mainly focus on extracting global descriptors from local features of point clouds. Despite having achieved…

Semantic segmentation of 3D point clouds is important for many applications, such as autonomous driving. To train semantic segmentation models, labeled point cloud segmentation datasets are essential. Meanwhile, point cloud labeling is…

Great progress has been made in point cloud classification with learning-based methods. However, complex scene and sensor inaccuracy in real-world application make point cloud data suffer from corruptions, such as occlusion, noise and…

Real scans always miss partial geometries of objects due to the self-occlusions, external-occlusions, and limited sensor resolutions. Point cloud completion aims to refer the complete shapes for incomplete 3D scans of objects. Current deep…

As 3D object detection on point clouds relies on the geometrical relationships between the points, non-standard object shapes can hinder a method's detection capability. However, in safety-critical settings, robustness to out-of-domain and…

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…