Minhas Kamal

Minhas Kamal, Hiranya Garbha Kumar, Balakrishnan Prabhakaran

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions, introduces unique challenges for machine learning based methodologies. To combat these issues, diverse strategies have been developed, including converting to a format that has orderliness, extracting local geometry, and permutation-invariant or self-attention-based processing. In this paper, our focus is directed towards deep learning models for three fundamental tasks in 3D vision: point cloud classification, part segmentation, and semantic segmentation. We begin by formally defining point cloud data, followed by an in-depth discussion on its structural characteristics. Then, we categorize notable works based on their backbone structure and evaluate their performance on popular benchmarks. Beyond empirical comparison, we offer insights into architectural innovations and limitations. We also outline open challenges and promising future directions for 3D point cloud understanding.

Hiranya Garbha Kumar, Minhas Kamal, Balakrishnan Prabhakaran

Accurately aligning CAD models to their corresponding objects in indoor RGB-D scans is a central challenge in 3D semantic reconstruction. The task requires estimating a 9-Degree-of-Freedom (DoF) pose-position, rotation, and scale along three axes-but is hindered by noisy and incomplete scans, as well as segmentation errors that cause geometric distortions. We present Completion-Assisted Object-CAD Alignment (CAOA), a method that integrates a semantically and contextually aware point cloud completion module with a symmetry-aware relative pose estimation algorithm, enabling precise alignment of CAD models to scanned objects. Existing completion methods are typically trained and evaluated on synthetic datasets, which often fail to generalize to real-world scans. To bridge this gap, we introduce a synthetic data generation strategy tailored to indoor scenes, significantly reducing the synthetic-to-real domain gap-validated through quantitative comparisons with widely used completion datasets. In addition, we release S2C-Completion, an expert-annotated dataset of over 8,500 object-CAD pairs from Scan2CAD, created for real-world indoor single-object completion and intended as a new benchmark for this task. For object-CAD alignment, we incorporate symmetry information via a symmetry-aware loss, improving robustness to symmetric ambiguities. On the Scan2CAD benchmark, CAOA achieves a 17% accuracy improvement over state-of-the-art methods.

Minhas Kamal, Amin Ahsan Ali, Muhammad Asif Hossain Khan et al.

Braille is the only system to visually impaired people for reading and writing. However, general people cannot read Braille. So, teachers and relatives find it hard to assist them with learning. Almost every major language has software solutions for this translation purpose. However, in Bengali there is an absence of this useful tool. Here, we propose Braille to Text Translator, which takes image of these tactile alphabets, and translates them to plain text. Image deterioration, scan-time page rotation, and braille dot deformation are the principal issues in this scheme. All of these challenges are directly checked using special image processing and geometric structure analysis. The technique yields 97.25% accuracy in recognizing Braille characters.