Related papers: CO^3: Cooperative Unsupervised 3D Representation L…

Learning to predict reliable characteristic orientations of 3D point clouds is an important yet challenging problem, as different point clouds of the same class may have largely varying appearances. In this work, we introduce a novel method…

Vision-based bird's-eye-view (BEV) 3D object detection has advanced significantly in autonomous driving by offering cost-effectiveness and rich contextual information. However, existing methods often construct BEV representations by…

With the rapid advancement of technology, 3D data acquisition and utilization have become increasingly prevalent across various fields, including computer vision, robotics, and geospatial analysis. 3D data, captured through methods such as…

We tackle the problem of object-centric learning on point clouds, which is crucial for high-level relational reasoning and scalable machine intelligence. In particular, we introduce a framework, SPAIR3D, to factorize a 3D point cloud into a…

Pretraining 3D encoders by aligning with Contrastive Language Image Pretraining (CLIP) has emerged as a promising direction to learn generalizable representations for 3D scene understanding. In this paper, we propose UniScene3D, a…

Self-supervised pre-training has achieved remarkable success in NLP and 2D vision. However, these advances have yet to translate to 3D data. Techniques like masked reconstruction face inherent challenges on unstructured point clouds, while…

We present a new self-supervised paradigm on point cloud sequence understanding. Inspired by the discriminative and generative self-supervised methods, we design two tasks, namely point cloud sequence based Contrastive Prediction and…

In this paper, we propose a novel self-supervised motion estimator for LiDAR-based autonomous driving via BEV representation. Different from usually adopted self-supervised strategies for data-level structure consistency, we predict scene…

Implicit neural 3D representation has achieved impressive results in surface or scene reconstruction and novel view synthesis, which typically uses the coordinate-based multi-layer perceptrons (MLPs) to learn a continuous scene…

This paper addresses the challenges in representation learning of 3D shape features by investigating state-of-the-art backbones paired with both contrastive supervised and self-supervised learning objectives. Computer vision methods…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

This paper introduces a novel self-supervised learning framework for enhancing 3D perception in autonomous driving scenes. Specifically, our approach, namely NCLR, focuses on 2D-3D neural calibration, a novel pretext task that estimates the…

Recent research has demonstrated that Large Language Models (LLMs) are not limited to text-only tasks but can also function as multimodal models across various modalities, including audio, images, and videos. In particular, research on 3D…

The prior self-supervised learning researches mainly select image-level instance discrimination as pretext task. It achieves a fantastic classification performance that is comparable to supervised learning methods. However, with degraded…

A major endeavor of computer vision is to represent, understand and extract structure from 3D data. Towards this goal, unsupervised learning is a powerful and necessary tool. Most current unsupervised methods for 3D shape analysis use…

Predictive coding theories suggest that the brain learns by predicting observations at various levels of abstraction. One of the most basic prediction tasks is view prediction: how would a given scene look from an alternative viewpoint?…

Self-supervised representation learning has shown significant improvement in Natural Language Processing and 2D Computer Vision. However, existing methods face difficulties in representing 3D data because of its unordered and uneven…

Holistic 3D indoor scene understanding refers to jointly recovering the i) object bounding boxes, ii) room layout, and iii) camera pose, all in 3D. The existing methods either are ineffective or only tackle the problem partially. In this…

In the field of 3D scene understanding, 3D scene graphs have emerged as a new scene representation that combines geometric and semantic information about objects and their relationships. However, learning semantic 3D scene graphs in a fully…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…