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We present AnchorDP3, a diffusion policy framework for dual-arm robotic manipulation that achieves state-of-the-art performance in highly randomized environments. AnchorDP3 integrates three key innovations: (1) Simulator-Supervised Semantic…

Scene flow estimation is the task to predict the point-wise or pixel-wise 3D displacement vector between two consecutive frames of point clouds or images, which has important application in fields such as service robots and autonomous…

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…

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention, but ignore their content and fail to establish relationships…

Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

In the realm of deep learning, spatial attention mechanisms have emerged as a vital method for enhancing the performance of convolutional neural networks. However, these mechanisms possess inherent limitations that cannot be overlooked.…

In this paper, we deal with the problem to predict the future 3D motions of 3D object scans from previous two consecutive frames. Previous methods mostly focus on sparse motion prediction in the form of skeletons. While in this paper we…

While recent feed-forward 3D reconstruction models provide a strong geometric foundation for scene understanding, extending them to 3D instance segmentation typically relies on a disjointed "lift-and-cluster" paradigm. Grouping dense…

Understanding point cloud has recently gained huge interests following the development of 3D scanning devices and the accumulation of large-scale 3D data. Most point cloud processing algorithms can be classified as either point-based or…

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…

Transformer plays an increasingly important role in various computer vision areas and remarkable achievements have also been made in point cloud analysis. Since they mainly focus on point-wise transformer, an adaptive channel encoding…

Convolutional Neural Networks (CNNs) have achieved promising results in medical image segmentation. However, CNNs require lots of training data and are incapable of handling pose and deformation of objects. Furthermore, their pooling layers…

3D convolutional networks are prevalent for video recognition. While achieving excellent recognition performance on standard benchmarks, they operate on a sequence of frames with 3D convolutions and thus are computationally demanding.…

Despite receiving significant attention from the research community, the task of segmenting and tracking objects in monocular videos still has much room for improvement. Existing works have simultaneously justified the efficacy of dilated…

With the proliferation of Lidar sensors and 3D vision cameras, 3D point cloud analysis has attracted significant attention in recent years. After the success of the pioneer work PointNet, deep learning-based methods have been increasingly…

Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental…

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…

Dynamic 3D point cloud sequences serve as one of the most common and practical representation modalities of dynamic real-world environments. However, their unstructured nature in both spatial and temporal domains poses significant…

Action recognition with 3D skeleton sequences is becoming popular due to its speed and robustness. The recently proposed Convolutional Neural Networks (CNN) based methods have shown good performance in learning spatio-temporal…