相关论文: Text2Loc++: Generalizing 3D Point Cloud Localizati…

We propose a novel normal estimation method called HSurf-Net, which can accurately predict normals from point clouds with noise and density variations. Previous methods focus on learning point weights to fit neighborhoods into a geometric…

The recent trend in deep learning methods for 3D point cloud understanding is to propose increasingly sophisticated architectures either to better capture 3D geometries or by introducing possibly undesired inductive biases. Moreover, prior…

As a promising scheme of self-supervised learning, masked autoencoding has significantly advanced natural language processing and computer vision. Inspired by this, we propose a neat scheme of masked autoencoders for point cloud…

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…

In this paper, we propose PCPNet, a deep-learning based approach for estimating local 3D shape properties in point clouds. In contrast to the majority of prior techniques that concentrate on global or mid-level attributes, e.g., for shape…

3D point cloud semantic segmentation is one of the fundamental tasks for environmental understanding. Although significant progress has been made in recent years, the performance of classes with few examples or few points is still far from…

Three-dimensional data have become increasingly present in earth observation over the last decades. However, many 3D surveys are still underexploited due to the lack of accessible and explainable automatic classification methods, for…

For relocalization in large-scale point clouds, we propose the first approach that unifies global place recognition and local 6DoF pose refinement. To this end, we design a Siamese network that jointly learns 3D local feature detection and…

Learning dense point-wise semantics from unstructured 3D point clouds with fewer labels, although a realistic problem, has been under-explored in literature. While existing weakly supervised methods can effectively learn semantics with only…

We introduce Point-Bind, a 3D multi-modality model aligning point clouds with 2D image, language, audio, and video. Guided by ImageBind, we construct a joint embedding space between 3D and multi-modalities, enabling many promising…

This paper investigates indoor point cloud semantic segmentation under scene-level annotation, which is less explored compared to methods relying on sparse point-level labels. In the absence of precise point-level labels, current methods…

While massively scaling both data and models have become central in NLP and 2D vision, their benefits for 3D point cloud understanding remain limited. We study the initial step of scaling 3D point cloud understanding under a realistic…

Semantic parsing of large-scale 3D point clouds is an important research topic in computer vision and remote sensing fields. Most existing approaches utilize hand-crafted features for each modality independently and combine them in a…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…

Place recognition is an important technique for autonomous cars to achieve full autonomy since it can provide an initial guess to online localization algorithms. Although current methods based on images or point clouds have achieved…

Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…

Recent machine learning-based multi-object tracking (MOT) frameworks are becoming popular for 3-D point clouds. Most traditional tracking approaches use filters (e.g., Kalman filter or particle filter) to predict object locations in a time…

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…

Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail to monitoring vegetation growth with handheld sensors. In…

We present CpT: Convolutional point Transformer - a novel deep learning architecture for dealing with the unstructured nature of 3D point cloud data. CpT is an improvement over existing attention-based Convolutions Neural Networks as well…