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Poster

3D Geometric Shape Assembly via Efficient Point Cloud Matching

Nahyuk Lee · Juhong Min · Junha Lee · Seungwook Kim · Kanghee Lee · Jaesik Park · Minsu Cho

Hall C 4-9 #105
[ ] [ Project Page ]
Thu 25 Jul 4:30 a.m. PDT — 6 a.m. PDT

Abstract:

Learning to assemble geometric shapes into a larger target structure is a pivotal task in various practical applications. In this work, we tackle this problem by establishing local correspondences between point clouds of part shapes in both coarse- and fine-levels. To this end, we introduce Proxy Match Transform (PMT), an approximate high-order feature transform layer that enables reliable matching between mating surfaces of parts while incurring low costs in memory and compute. Building upon PMT, we introduce a new framework, dubbed Proxy Match TransformeR (PMTR), for the geometric assembly task. We evaluate the proposed PMTR on the large-scale 3D geometric shape assembly benchmark dataset of Breaking Bad and demonstrate its superior performance and efficiency compared to state-of-the-art methods. Project page: https://nahyuklee.github.io/pmtr

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