3D 视觉

Attention-Guided Multi-Scale Local Reconstruction for Point Clouds via Masked Autoencoder Self-Supervised Learning

Xin Cao, Haoyu Wang, Yuzhu Mao, Xinda Liu, Linzhi Su, Kang Li

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.GR

Comments 22 pages

PAVLM: Advancing Point Cloud based Affordance Understanding Via Vision-Language Model

Shang-Ching Liu, Van Nhiem Tran, Wenkai Chen, Wei-Lun Cheng, Yen-Lin Huang, I-Bin Liao, Yung-Hui Li, Jianwei Zhang

机构 * Technical Aspects of Multimodal Systems (TAMS), Department of Informatics, University of Hamburg（汉堡大学信息学院多模态系统技术部门） ； Hon Hai Research Institute (HHRI)（鸿海研究机构） ； Department of Electrical Engineering, National Taiwan University（台湾大学电子工程系） ； Department of Computer Science and Technology, National Tsinghua University（清华大学计算机科学与技术系） 纠错

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

End-to-end 2D-3D Registration between Image and LiDAR Point Cloud for Vehicle Localization

Guangming Wang, Yu Zheng, Yuxuan Wu, Yanfeng Guo, Zhe Liu, Yixiang Zhu, Wolfram Burgard, Hesheng Wang

机构 * Department of Engineering, University of Cambridge（剑桥大学工程系） ； School of Automation and Intelligent Sensing, Shanghai Jiao Tong University（上海交通大学自动化与智能感知学院） ； Department of Computer Science and Artificial Intelligence, University of Technology Nuremberg（不莱梅技术大学计算机科学与人工智能系） 纠错

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments Accepted to T-RO. Source codes are released at https://github.com/IRMVLab/I2PNet

LUDO: Low-Latency Understanding of Deformable Objects using Point Cloud Occupancy Functions

Pit Henrich, Franziska Mathis-Ullrich, Paul Maria Scheikl

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments Published in IEEE Transactions on Robotics (T-RO)

RaGNNarok: A Light-Weight Graph Neural Network for Enhancing Radar Point Clouds on Unmanned Ground Vehicles

David Hunt, Shaocheng Luo, Spencer Hallyburton, Shafii Nillongo, Yi Li, Tingjun Chen, Miroslav Pajic

机构 * Department of Electrical and Computer Engineering, Duke University（电气与计算机工程系，杜克大学） 纠错

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments 8 pages, accepted by IROS 2025

Correspondence-Free Multiview Point Cloud Registration via Depth-Guided Joint Optimisation

Yiran Zhou, Yingyu Wang, Shoudong Huang, Liang Zhao

机构 * Robotics Institute, Faculty of Engineering and Information Technology, University of Technology Sydney（机器人研究所，工程与信息技术学院，新南威尔士大学） ； School of Informatics, The University of Edinburgh（信息学院，爱丁堡大学） 纠错

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments 8 pages, accepted for publication in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

SALT: A Flexible Semi-Automatic Labeling Tool for General LiDAR Point Clouds with Cross-Scene Adaptability and 4D Consistency

Yanbo Wang, Yongtao Chen, Chuan Cao, Tianchen Deng, Wentao Zhao, Jingchuan Wang, Weidong Chen

机构 * Institute of Medical Robotics, Department of Automation, Shanghai Jiao Tong University（医学机器人研究所、自动化系、上海交通大学） 纠错

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Enhancing Human-Robot Collaboration: A Sim2Real Domain Adaptation Algorithm for Point Cloud Segmentation in Industrial Environments

Fatemeh Mohammadi Amin, Darwin G. Caldwell, Hans Wernher van de Venn

机构 * University of Zurich（苏黎世大学） ； Italian Institute of Technology (IIT)（意大利理工学院） ； Zurich University of Applied Sciences（苏黎世应用科学大学） 纠错

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments Preprint, Journal of Intelligent & Robotic Systems

LogoSP: Local-global Grouping of Superpoints for Unsupervised Semantic Segmentation of 3D Point Clouds

Zihui Zhang, Weisheng Dai, Hongtao Wen, Bo Yang

机构 * Shenzhen Research Institute, The Hong Kong Polytechnic University（深圳研究院，香港理工大学） ； vLAR Group, The Hong Kong Polytechnic University（vLAR集团，香港理工大学） 纠错

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments CVPR 2025. Code and data are available at: https://github.com/vLAR-group/LogoSP

SynBench: A Synthetic Benchmark for Non-rigid 3D Point Cloud Registration

Sara Monji-Azad, Marvin Kinz, Claudia Scherl, David Männle, Jürgen Hesser, Nikolas Löw

机构 * Mannheim Institute for Intelligent Systems in Medicine (MIISM), Medical Faculty Mannheim, Heidelberg University, Mannheim 68167, Germany（海德堡大学曼海姆医学院智能医学研究所（MIISM）） ； Department of Radiation Oncology, Brigham and Women’s Hospital, Dana-Farber Cancer Institute, Harvard Medical School, Boston, MA, USA（放射肿瘤科，布里格斯妇女医院，达纳-法伯癌症研究所，哈佛医学院，马萨诸塞州波士顿，美国） ； Interdisciplinary Center for Scientific Computing (IWR), Heidelberg University, Heidelberg, Germany（科学计算跨学科中心（IWR），海德堡大学，海德堡，德国） ； Central Institute for Computer Engineering (ZITI), Heidelberg University, Heidelberg, Germany（计算机工程中央研究所（ZITI），海德堡大学，海德堡，德国） ； CZS Heidelberg Center for Model-Based AI, Heidelberg University, Mannheim, Germany（海德堡模型驱动人工智能中心（CZS），海德堡大学，曼海姆，德国） ； Department of Otorhinolaryngology, Head and Neck Surgery, University Hospital Mannheim, Medical Faculty Mannheim, Heidelberg University, Mannheim, Germany（耳鼻喉科及头颈外科，曼海姆大学医院，曼海姆医学院，海德堡大学，曼海姆，德国） ； AI Health Innovation Cluster, Heidelberg-Mannheim Health and Life Science Alliance, Heidelberg University, Heidelberg, Germany（人工智能健康创新集群，海德堡-曼海姆健康与生命科学联盟，海德堡大学，海德堡，德国） 纠错

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.GR

Journal ref Measurement Science and Technology, Vol. 36, No. 1, 015426, 2024

MinkUNeXt-SI: Improving point cloud-based place recognition including spherical coordinates and LiDAR intensity

Judith Vilella-Cantos, Juan José Cabrera, Luis Payá, Mónica Ballesta, David Valiente

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

AutoURDF: Unsupervised Robot Modeling from Point Cloud Frames Using Cluster Registration

Jiong Lin, Lechen Zhang, Kwansoo Lee, Jialong Ning, Judah Goldfeder, Hod Lipson

机构 * Columbia University（哥伦比亚大学） ； Creative Machines Lab（创意机器实验室） 纠错

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments 16 pages

Journal ref CVPR 2025

DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects

Priya Sundaresan, Rika Antonova, Jeannette Bohg

机构 * Department of Computer Science, Stanford University（计算机科学系，斯坦福大学） 纠错

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Automating Infrastructure Surveying: A Framework for Geometric Measurements and Compliance Assessment Using Point Cloud Data

Amin Ghafourian, Andrew Lee, Dechen Gao, Tyler Beer, Kin Yen, Iman Soltani

机构 * LARA Research（LARA研究机构） ； Department of Mechanical and Aerospace Engineering University of California, Davis（机械与航空航天工程系加州大学戴维斯分校） 纠错

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments 19 pages, 15 figures, 4 tables

REHEARSE-3D: A Multi-modal Emulated Rain Dataset for 3D Point Cloud De-raining

Abu Mohammed Raisuddin, Jesper Holmblad, Hamed Haghighi, Yuri Poledna, Maikol Funk Drechsler, Valentina Donzella, Eren Erdal Aksoy

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Matching Distance and Geometric Distribution Aided Learning Multiview Point Cloud Registration

Shiqi Li, Jihua Zhu, Yifan Xie, Naiwen Hu, Di Wang

机构 * School of Software Engineering, Xi’an Jiaotong University（西安交通大学软件工程学院） ； Shaanxi Joint Key Laboratory for Artifact Intelligence（陕西人工智能智能物证联合重点实验室） 纠错

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Interpretable Affordance Detection on 3D Point Clouds with Probabilistic Prototypes

Maximilian Xiling Li, Korbinian Rudolf, Nils Blank, Rudolf Lioutikov

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Skeletonization Quality Evaluation: Geometric Metrics for Point Cloud Analysis in Robotics

Qingmeng Wen, Yu-Kun Lai, Ze Ji, Seyed Amir Tafrishi

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments 15 pages, 12 figures, under-review

PCDreamer: Point Cloud Completion Through Multi-view Diffusion Priors

Guangshun Wei, Yuan Feng, Long Ma, Chen Wang, Yuanfeng Zhou, Changjian Li

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.GR

Comments Project page: https://gsw-d.github.io/PCDreamer/

SANDRO: a Robust Solver with a Splitting Strategy for Point Cloud Registration

Michael Adlerstein, João Carlos Virgolino Soares, Angelo Bratta, Claudio Semini

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments Accepted to the IEEE International Conference on Robotics and Automation (ICRA) 2025

Joint 3D Point Cloud Segmentation using Real-Sim Loop: From Panels to Trees and Branches

Tian Qiu, Ruiming Du, Nikolai Spine, Lailiang Cheng, Yu Jiang

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments Accepted by ICRA 2025

MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policies

Haojie Huang, Haotian Liu, Dian Wang, Robin Walters, Robert Platt

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments project url: https://haojhuang.github.io/match_page/

Multi-Scale Neighborhood Occupancy Masked Autoencoder for Self-Supervised Learning in LiDAR Point Clouds

Mohamed Abdelsamad, Michael Ulrich, Claudius Gläser, Abhinav Valada

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

MaskPlanner: Learning-Based Object-Centric Motion Generation from 3D Point Clouds

Gabriele Tiboni, Raffaello Camoriano, Tatiana Tommasi

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments Project website at https://gabrieletiboni.github.io/MaskPlanner/

L-PR: Exploiting LiDAR Fiducial Marker for Unordered Low Overlap Multiview Point Cloud Registration

Yibo Liu, Jinjun Shan, Amaldev Haridevan, Shuo Zhang

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Towards Fusing Point Cloud and Visual Representations for Imitation Learning

Atalay Donat, Xiaogang Jia, Xi Huang, Aleksandar Taranovic, Denis Blessing, Ge Li, Hongyi Zhou, Hanyi Zhang, Rudolf Lioutikov, Gerhard Neumann

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

CurbNet: Curb Detection Framework Based on LiDAR Point Cloud Segmentation

Guoyang Zhao, Fulong Ma, Weiqing Qi, Yuxuan Liu, Ming Liu, Jun Ma

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

FlexCloud: Direct, Modular Georeferencing and Drift-Correction of Point Cloud Maps

Maximilian Leitenstern, Marko Alten, Christian Bolea-Schaser, Dominik Kulmer, Marcel Weinmann, Markus Lienkamp

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments Accepted for publication at VEHITS 2025, Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS; 2025

A Direct Semi-Exhaustive Search Method for Robust, Partial-to-Full Point Cloud Registration

Richard Cheng, Chavdar Papozov, Dan Helmick, Mark Tjersland

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments IROS 2024

Point-LN: A Lightweight Framework for Efficient Point Cloud Classification Using Non-Parametric Positional Encoding

Marzieh Mohammadi, Amir Salarpour, Pedram MohajerAnsari

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV、cs.RO

Comments This paper has been accepted for presentation at the 29th International Computer Conference, Computer Society of Iran (CSICC) 2025