The conventional wisdom in point cloud analysis predominantly explores 3D geometries. It is often achieved through the introduction of intricate learnable geometric extractors in the encoder or by deepening networks with repeated blocks. However, these methods contain a significant number of learnable parameters, resulting in substantial computational costs and imposing memory burdens on CPU/GPU. Moreover, they are primarily tailored for object-level point cloud classification and segmentation tasks, with limited extensions to crucial scene-level applications, such as autonomous driving. To this end, we introduce PointeNet, an efficient network designed specifically for point cloud analysis. PointeNet distinguishes itself with its lightweight architecture, low training cost, and plug-and-play capability, while also effectively capturing representative features. The network consists of a Multivariate Geometric Encoding (MGE) module and an optional Distance-aware Semantic Enhancement (DSE) module. MGE employs operations of sampling, grouping, pooling, and multivariate geometric aggregation to lightweightly capture and adaptively aggregate multivariate geometric features, providing a comprehensive depiction of 3D geometries. DSE, designed for real-world autonomous driving scenarios, enhances the semantic perception of point clouds, particularly for distant points. Our method demonstrates flexibility by seamlessly integrating with a classification/segmentation head or embedding into off-the-shelf 3D object detection networks, achieving notable performance improvements at a minimal cost. Extensive experiments on object-level datasets, including ModelNet40, ScanObjectNN, ShapeNetPart, and the scene-level dataset KITTI, demonstrate the superior performance of PointeNet over state-of-the-art methods in point cloud analysis. Notably, PointeNet outperforms PointMLP with significantly fewer parameters on ModelNet40, ScanObjectNN, and ShapeNetPart, and achieves a substantial improvement of over 2% in 3DAP_R40 for PointRCNN on KITTI with a minimal parameter cost of 1.4 million. Code is publicly available at https://github.com/lipeng-gu/PointeNet

@en

Current point cloud denoising (PCD) models optimize single networks, trying to make their parameters adaptive to each point in a large pool of point clouds. Such a denoising network paradigm neglects that different points are often corrupted by different levels of noise and they may convey different geometric structures. Thus, the intricacy of both noise and geometry poses side effects including remnant noise, wrongly-smoothed edges, and distorted shape after denoising. We propose PathNet, a pathselective PCD paradigm based on reinforcement learning (RL). Unlike existing efforts, PathNet enables dynamic selection of the most appropriate denoising path for each point, best moving it onto its underlying surface. We have two more contributions besides the proposed framework of path-selective PCD for the first time. First, to leverage geometry expertise and benefit from training data, we propose a noise- and geometry-aware reward function to train the routing agent in RL. Second, the routing agent and the denoising network are trained jointly to avoid under- and over-smoothing. Extensive experiments show promising improvements of PathNet over its competitors, in terms of the effectiveness for removing different levels of noise and preserving multi-scale surface geometries. Furthermore, PathNet generalizes itself more smoothly to real scans than cutting-edge models.@en

The acquisition of both local and global features from irregular point clouds is crucial for 3D object detection (3DOD). Current mainstream 3D detectors neglect significant local features during pooling operations or disregard many global features of the overall scene context. This paper proposes new techniques for simultaneously learning local-global features of scene point clouds to enhance 3DOD. Specifically, we propose an efficient 3DOD network in indoor point clouds, named SimLOG, which utilizes simultaneous local-global feature learning. SimLOG has two main contributions: a Dynamic Points Interaction (DPI) module to recover local features lost during pooling, and a Global Context Aggregation(GCA) module to aggregate multi-scale features from various layers of the encoder to improve scene context awareness. Unlike traditional local-global feature learning methods, our DPI and GCA modules are integrated into a single feature learning module, making it easily detachable and able to be incorporated into existing 3DOD networks to enhance their performance. SimLOG demonstrates superior performance over twenty competitors in terms of detection accuracy and robustness on both the SUN RGB-D and ScanNet V2 datasets. Specifically, SimLOG boosts the baseline VoteNet by 8.1% of mAP@0.25 on ScanNet V2 and by 3.9% of mAP@0.25 on SUN RGB-D.@en

How will you repair a physical object with some missings? You may imagine its original shape from previously captured images, recover its overall (global) but coarse shape first, and then refine its local details. We are motivated to imitate the physical repair procedure to address point cloud completion. To this end, we propose a cross-modal shape-transfer dual-refinement network (termed CSDN), a coarse-to-fine paradigm with images of full-cycle participation, for quality point cloud completion. CSDN mainly consists of “shape fusion” and “dual-refinement” modules to tackle the cross-modal challenge. The first module transfers the intrinsic shape characteristics from single images to guide the geometry generation of the missing regions of point clouds, in which we propose IPAdaIN to embed the global features of both the image and the partial point cloud into completion. The second module refines the coarse output by adjusting the positions of the generated points, where the local refinement unit exploits the geometric relation between the novel and the input points by graph convolution, and the global constraint unit utilizes the input image to fine-tune the generated offset. Different from most existing approaches, CSDN not only explores the complementary information from images but also effectively exploits cross-modal data in the whole coarse-to-fine completion procedure. Experimental results indicate that CSDN performs favorably against twelve competitors on the cross-modal benchmark.@en

Bas-relief is characterized by its unique presentation of intrinsic shape properties and/or detailed appearance using materials raised up in different degrees above a background. However, many bas-relief modeling methods could not manipulate scene details well. We propose a simple and effective solution for two kinds of bas-relief modeling (i.e., structure-preserving and detail-preserving), which is different from the prior tone mapping alike methods. Our idea originates from an observation on typical 3D models which are decomposed into a piecewise smooth base layer and a detail layer in normal field. Proper manipulation of the two layers contributes to both structure-preserving and detail-preserving bas-relief modeling. We solve the modeling problem in a discrete geometry processing setup that uses normal-based mesh processing as a theoretical foundation. Specifically, using the two-step mesh smoothing mechanism as a bridge, we transfer the bas-relief modeling problem into a discrete space, and solve it in a least-squares manner. Experiments and comparisons to other methods show that (i) geometry details are better preserved in the scenario with high compression ratios, and (ii) structures are clearly preserved without shape distortion and interference from details.

@en