Related papers: PointHop++: A Lightweight Learning Model on Point …
Processing large point clouds is a challenging task. Therefore, the data is often downsampled to a smaller size such that it can be stored, transmitted and processed more efficiently without incurring significant performance degradation.…
Deep learning systems extensively use convolution operations to process input data. Though convolution is clearly defined for structured data such as 2D images or 3D volumes, this is not true for other data types such as sparse point…
Generalizable 3D part segmentation is important but challenging in vision and robotics. Training deep models via conventional supervised methods requires large-scale 3D datasets with fine-grained part annotations, which are costly to…
Parameter-efficient fine-tuning strategies for foundation models in 1D textual and 2D visual analysis have demonstrated remarkable efficacy. However, due to the scarcity of point cloud data, pre-training large 3D models remains a…
This paper proposes a new method to infer keypoints from arbitrary object categories in practical scenarios where point cloud data (PCD) are noisy, down-sampled and arbitrarily rotated. Our proposed model adheres to the following…
Scene-level point cloud understanding remains challenging due to diverse geometries, imbalanced category distributions, and highly varied spatial layouts. Existing methods improve object-level performance but rely on static network…
Selection is a fundamental task in exploratory analysis and visualization of 3D point clouds. Prior researches on selection methods were developed mainly based on heuristics such as local point density, thus limiting their applicability in…
This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…
With the rapid progress of multimodal foundation models and predictive pre-training, an important open question is how to equip 3D point clouds with a pre-training paradigm that is better aligned with next-token and next-embedding learning.…
Semantic segmentation of point cloud usually relies on dense annotation that is exhausting and costly, so it attracts wide attention to investigate solutions for the weakly supervised scheme with only sparse points annotated. Existing works…
Unlike images which are represented in regular dense grids, 3D point clouds are irregular and unordered, hence applying convolution on them can be difficult. In this paper, we extend the dynamic filter to a new convolution operation, named…
This report presents our method which wins the nuScenes3D Detection Challenge [17] held in Workshop on Autonomous Driving(WAD, CVPR 2019). Generally, we utilize sparse 3D convolution to extract rich semantic features, which are then fed…
This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…
We present CpT: Convolutional point Transformer - a novel deep learning architecture for dealing with the unstructured nature of 3D point cloud data. CpT is an improvement over existing attention-based Convolutions Neural Networks as well…
Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…
The current state-of-the-art methods in 3D instance segmentation typically involve a clustering step, despite the tendency towards heuristics, greedy algorithms, and a lack of robustness to the changes in data statistics. In contrast, we…
Point clouds have attracted increasing attention. Significant progress has been made in methods for point cloud analysis, which often requires costly human annotation as supervision. To address this issue, we propose a novel…
In this paper, we propose PointRCNN for 3D object detection from raw point cloud. The whole framework is composed of two stages: stage-1 for the bottom-up 3D proposal generation and stage-2 for refining proposals in the canonical…
In recent years, semi-supervised learning has been widely explored and shows excellent data efficiency for 2D data. There is an emerging need to improve data efficiency for 3D tasks due to the scarcity of labeled 3D data. This paper…
Addressing the annotation challenge in 3D Point Cloud segmentation has inspired research into weakly supervised learning. Existing approaches mainly focus on exploiting manifold and pseudo-labeling to make use of large unlabeled data…