相关论文: RWKV-PCSSC: Exploring RWKV Model for Point Cloud S…

Autonomous driving systems rely on robust 3D scene understanding. Recent advances in Semantic Scene Completion (SSC) for autonomous driving underscore the limitations of RGB-based approaches, which struggle under motion blur, poor lighting,…

Self-attention mechanism recently achieves impressive advancement in Natural Language Processing (NLP) and Image Processing domains. And its permutation invariance property makes it ideally suitable for point cloud processing. Inspired by…

The 3D scene understanding is mainly considered as a crucial requirement in computer vision and robotics applications. One of the high-level tasks in 3D scene understanding is semantic segmentation of RGB-Depth images. With the availability…

Semantic shape completion is a challenging problem in 3D computer vision where the task is to generate a complete 3D shape using a partial 3D shape as input. We propose a learning-based approach to complete incomplete 3D shapes through…

We propose an end-to-end attribute compression method for dense point clouds. The proposed method combines a frequency sampling module, an adaptive scale feature extraction module with geometry assistance, and a global hyperprior entropy…

Point cloud processing methods leverage local and global point features %at the feature level to cater to downstream tasks, yet they often overlook the task-level context inherent in point clouds during the encoding stage. We argue that…

Semantic segmentation in high-resolution agricultural imagery demands models that strike a careful balance between accuracy and computational efficiency to enable deployment in practical systems. In this work, we propose DAS-SK, a novel…

Semantic scene completion (SSC) is essential for achieving comprehensive perception in autonomous driving systems. However, existing SSC methods often overlook the high deployment costs in real-world applications. Traditional architectures,…

We study the task of weakly-supervised point cloud semantic segmentation with sparse annotations (e.g., less than 0.1% points are labeled), aiming to reduce the expensive cost of dense annotations. Unfortunately, with extremely sparse…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

In this paper we present SA-CNN, a hierarchical and lightweight self-attention based encoding and decoding architecture for representation learning of point cloud data. The proposed SA-CNN introduces convolution and transposed convolution…

Semantic scene reconstruction from point cloud is an essential and challenging task for 3D scene understanding. This task requires not only to recognize each instance in the scene, but also to recover their geometries based on the partial…

We present a novel lightweight convolutional neural network for point cloud analysis. In contrast to many current CNNs which increase receptive field by downsampling point cloud, our method directly operates on the entire point sets without…

Spiking Neural Networks (SNNs) provide an energy-efficient way to extract 3D spatio-temporal features. Point clouds are sparse 3D spatial data, which suggests that SNNs should be well-suited for processing them. However, when applying SNNs…

Point-cloud data collected in real-world applications are often incomplete. Data is typically missing due to objects being observed from partial viewpoints, which only capture a specific perspective or angle. Additionally, data can be…

Scanning real-life scenes with modern registration devices typically give incomplete point cloud representations, mostly due to the limitations of the scanning process and 3D occlusions. Therefore, completing such partial representations…

We introduce ScanComplete, a novel data-driven approach for taking an incomplete 3D scan of a scene as input and predicting a complete 3D model along with per-voxel semantic labels. The key contribution of our method is its ability to…

Unsupervised point cloud completion aims to infer the whole geometry of a partial object observation without requiring partial-complete correspondence. Differing from existing deterministic approaches, we advocate generative modeling based…

Existing point cloud completion methods, which typically depend on predefined synthetic training datasets, encounter significant challenges when applied to out-of-distribution, real-world scans. To overcome this limitation, we introduce a…

Most existing point cloud completion methods suffer from the discrete nature of point clouds and the unstructured prediction of points in local regions, which makes it difficult to reveal fine local geometric details. To resolve this issue,…