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We present a novel attention-based mechanism to learn enhanced point features for point cloud processing tasks, e.g., classification and segmentation. Unlike prior works, which were trained to optimize the weights of a pre-selected set of…
As a pioneering work, PointContrast conducts unsupervised 3D representation learning via leveraging contrastive learning over raw RGB-D frames and proves its effectiveness on various downstream tasks. However, the trend of large-scale…
Though deep learning methods have shown great success in 3D point cloud part segmentation, they generally rely on a large volume of labeled training data, which makes the model suffer from unsatisfied generalization abilities to unseen…
We study the problem of estimating 3D shape and pose of an object in terms of keypoints, from a single 2D image. The shape and pose are learned directly from images collected by categories and their partial 2D keypoint annotations.. In this…
We show that denoising of 3D point clouds can be learned unsupervised, directly from noisy 3D point cloud data only. This is achieved by extending recent ideas from learning of unsupervised image denoisers to unstructured 3D point clouds.…
Pretraining on large labeled datasets is a prerequisite to achieve good performance in many computer vision tasks like 2D object recognition, video classification etc. However, pretraining is not widely used for 3D recognition tasks where…
This paper proposes a method to ease the unsupervised learning of object landmark detectors. Similarly to previous methods, our approach is fully unsupervised in a sense that it does not require or make any use of annotated landmarks for…
Traditionally, training neural networks to perform semantic segmentation required expensive human-made annotations. But more recently, advances in the field of unsupervised learning have made significant progress on this issue and towards…
In this paper we present a novel unsupervised representation learning approach for 3D shapes, which is an important research challenge as it avoids the manual effort required for collecting supervised data. Our method trains an RNN-based…
Due to the few annotated labels of 3D point clouds, how to learn discriminative features of point clouds to segment object instances is a challenging problem. In this paper, we propose a simple yet effective 3D instance segmentation…
Deep neural networks need a big amount of training data, while in the real world there is a scarcity of data available for training purposes. To resolve this issue unsupervised methods are used for training with limited data. In this…
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…
There have been recent efforts to learn more meaningful representations via fixed length codewords from mesh data, since a mesh serves as a complete model of underlying 3D shape compared to a point cloud. However, the mesh connectivity…
Normal estimation for 3D point clouds is a fundamental task in 3D geometry processing. The state-of-the-art methods rely on priors of fitting local surfaces learned from normal supervision. However, normal supervision in benchmarks comes…
This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A…
A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…
Open-world 3D scene understanding is a critical challenge that involves recognizing and distinguishing diverse objects and categories from 3D data, such as point clouds, without relying on manual annotations. Traditional methods struggle…
Deep learning on point clouds has made a lot of progress recently. Many point cloud dedicated deep learning frameworks, such as PointNet and PointNet++, have shown advantages in accuracy and speed comparing to those using traditional 3D…
This paper presents a semi-supervised learning framework for a customized semantic segmentation task using multiview image streams. A key challenge of the customized task lies in the limited accessibility of the labeled data due to the…
In this paper, we propose PCPNet, a deep-learning based approach for estimating local 3D shape properties in point clouds. In contrast to the majority of prior techniques that concentrate on global or mid-level attributes, e.g., for shape…