Mining Point Cloud Local Structures by Kernel Correlation and Graph Pooling

We propose two new operations, Kernel Correlation and Graph Pooling, to efficiently and robustly improve PointNet, useful for autonomous driving, robotic scene understanding, etc.

Fast Resampling of Three-Dimensional Point Clouds via Graphs

To reduce the cost of storing, processing and visualizing a large-scale point cloud, we propose a randomized resampling strategy that selects a representative subset of points while preserving application-dependent features. The strategy is based on …

Fast plane extraction in organized point clouds using agglomerative hierarchical clustering

The fastest plane detection algorithm on single-core CPU (35Hz for VGA size) for organized point clouds.