相关论文: R3PM-Net: Real-time, Robust, Real-world Point Matc…

Estimating the complete 3D point cloud from an incomplete one is a key problem in many vision and robotics applications. Mainstream methods (e.g., PCN and TopNet) use Multi-layer Perceptrons (MLPs) to directly process point clouds, which…

In recent years, deep learning-based point cloud normal estimation has made great progress. However, existing methods mainly rely on the PCPNet dataset, leading to overfitting. In addition, the correlation between point clouds with…

The clutter in the ground-penetrating radar (GPR) radargram disguises or distorts subsurface target responses, which severely affects the accuracy of target detection and identification. Existing clutter removal methods either leave…

We consider the robust Perspective-n-Point (PnP) problem using a hybrid approach that combines deep learning with model based algorithms. PnP is the problem of estimating the pose of a calibrated camera given a set of 3D points in the world…

Recently, Spiking Neural Networks (SNNs), enjoying extreme energy efficiency, have drawn much research attention on 2D visual recognition and shown gradually increasing application potential. However, it still remains underexplored whether…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

When 3D-point clouds from overhead sensors are used as input to remote sensing data exploitation pipelines, a large amount of effort is devoted to data preparation. Among the multiple stages of the preprocessing chain, estimating the…

Lung nodule detection from 3D Computed Tomography scans plays a vital role in efficient lung cancer screening. Despite the SOTA performance obtained by recent anchor-based detectors using CNNs for this task, they require predetermined…

Previous works have shown that face recognition with high accurate 3D data is more reliable and insensitive to pose and illumination variations. Recently, low-cost and portable 3D acquisition techniques like ToF(Time of Flight) and DoE…

Point cloud analysis is attracting attention from Artificial Intelligence research since it can be widely used in applications such as robotics, Augmented Reality, self-driving. However, it is always challenging due to irregularities,…

Point cloud registration is a task to estimate the rigid transformation between two unaligned scans, which plays an important role in many computer vision applications. Previous learning-based works commonly focus on supervised…

In a constant evolving world, change detection is of prime importance to keep updated maps. To better sense areas with complex geometry (urban areas in particular), considering 3D data appears to be an interesting alternative to classical…

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…

Large-scale scene point cloud registration with limited overlap is a challenging task due to computational load and constrained data acquisition. To tackle these issues, we propose a point cloud registration method, MT-PCR, based on…

3D point cloud registration is fragile to outliers, which are labeled as the points without corresponding points. To handle this problem, a widely adopted strategy is to estimate the relative pose based only on some accurate…

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)…

Point clouds obtained from 3D sensors are usually sparse. Existing methods mainly focus on upsampling sparse point clouds in a supervised manner by using dense ground truth point clouds. In this paper, we propose a self-supervised point…

Robust imitation learning for robot manipulation requires comprehensive 3D perception, yet many existing methods struggle in cluttered environments. Fixed camera view approaches are vulnerable to perspective changes, and 3D point cloud…

Learning robust feature matching between the template and search area is crucial for 3D Siamese tracking. The core of Siamese feature matching is how to assign high feature similarity on the corresponding points between the template and…

Using heterogeneous depth cameras and 3D scanners in 3D face verification causes variations in the resolution of the 3D point clouds. To solve this issue, previous studies use 3D registration techniques. Out of these proposed techniques,…