Related papers: InCloud: Incremental Learning for Point Cloud Plac…

Many medical datasets have recently been created for medical image segmentation tasks, and it is natural to question whether we can use them to sequentially train a single model that (1) performs better on all these datasets, and (2)…

We present Lepard, a Learning based approach for partial point cloud matching in rigid and deformable scenes. The key characteristics are the following techniques that exploit 3D positional knowledge for point cloud matching: 1) An…

Continual Learning aims to learn multiple incoming new tasks continually, and to keep the performance of learned tasks at a consistent level. However, existing research on continual learning assumes the pose of the object is pre-defined and…

Deep learning models in recommender systems are usually trained in the batch mode, namely iteratively trained on a fixed-size window of training data. Such batch mode training of deep learning models suffers from low training efficiency,…

Recently Transformer-based models have advanced point cloud understanding by leveraging self-attention mechanisms, however, these methods often overlook latent information in less prominent regions, leading to increased sensitivity to…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

LiDAR-based place recognition is one of the key components of SLAM and global localization in autonomous vehicles and robotics applications. With the success of DL approaches in learning useful information from 3D LiDARs, place recognition…

Recently, great progress has been made in 3D deep learning with the emergence of deep neural networks specifically designed for 3D point clouds. These networks are often trained from scratch or from pre-trained models learned purely from…

Recent advances in point cloud In-Context Learning (ICL) have demonstrated strong multitask capabilities. Existing approaches typically adopt a Masked Point Modeling (MPM)-based paradigm for point cloud ICL. However, MPM-based methods…

The 3D point cloud (3DPC) has significantly evolved and benefited from the advance of deep learning (DL). However, the latter faces various issues, including the lack of data or annotated data, the existence of a significant gap between…

Technology to recognize the type of component represented by a point cloud is required in the reconstruction process of an as-built model of a process plant based on laser scanning. The reconstruction process of a process plant through…

Normal estimation on 3D point clouds is a fundamental problem in 3D vision and graphics. Current methods often show limited accuracy in predicting normals at sharp features (e.g., edges and corners) and less robustness to noise. In this…

LiDAR place recognition plays a crucial role in SLAM, robot navigation, and autonomous driving. However, existing LiDAR place recognition methods often struggle to adapt to new environments without forgetting previously learned knowledge, a…

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…

Iterative methods such as iterative closest point (ICP) for point cloud registration often suffer from bad local optimality (e.g. saddle points), due to the nature of nonconvex optimization. To address this fundamental challenge, in this…

Learning implicit representations has been a widely used solution for surface reconstruction from 3D point clouds. The latest methods infer a distance or occupancy field by overfitting a neural network on a single point cloud. However,…

The Iterative Closest Point (ICP) algorithm is a crucial component of LiDAR-based SLAM algorithms. However, its performance can be negatively affected in unstructured environments that lack features and geometric structures, leading to low…

In robot learning, the observation space is crucial due to the distinct characteristics of different modalities, which can potentially become a bottleneck alongside policy design. In this study, we explore the influence of various…

The increased availability of massive point clouds coupled with their utility in a wide variety of applications such as robotics, shape synthesis, and self-driving cars has attracted increased attention from both industry and academia.…

Few prior works study deep learning on point sets. PointNet by Qi et al. is a pioneer in this direction. However, by design PointNet does not capture local structures induced by the metric space points live in, limiting its ability to…