Related papers: Prototypical VoteNet for Few-Shot 3D Point Cloud O…

This paper proposes a computationally efficient approach to detecting objects natively in 3D point clouds using convolutional neural networks (CNNs). In particular, this is achieved by leveraging a feature-centric voting scheme to implement…

Fusion of 2D images and 3D point clouds is important because information from dense images can enhance sparse point clouds. However, fusion is challenging because 2D and 3D data live in different spaces. In this work, we propose MVPNet…

3D object detection is receiving increasing attention from both industry and academia thanks to its wide applications in various fields. In this paper, we propose Point-Voxel Region-based Convolution Neural Networks (PV-RCNNs) for 3D object…

Although extensive research has been conducted on 3D point cloud segmentation, effectively adapting generic models to novel categories remains a formidable challenge. This paper proposes a novel approach to improve point cloud few-shot…

Few-shot 3D point cloud semantic segmentation (FS-3DSeg) aims to segment novel classes with only a few labeled samples. However, existing metric-based prototype learning methods generate prototypes solely from the support set, without…

We present a novel and high-performance 3D object detection framework, named PointVoxel-RCNN (PV-RCNN), for accurate 3D object detection from point clouds. Our proposed method deeply integrates both 3D voxel Convolutional Neural Network…

In this paper, we address the 3D object detection task by capturing multi-level contextual information with the self-attention mechanism and multi-scale feature fusion. Most existing 3D object detection methods recognize objects…

Detecting objects and estimating their viewpoints in images are key tasks of 3D scene understanding. Recent approaches have achieved excellent results on very large benchmarks for object detection and viewpoint estimation. However,…

Conventional training of a deep CNN based object detector demands a large number of bounding box annotations, which may be unavailable for rare categories. In this work we develop a few-shot object detector that can learn to detect novel…

The automatic creation of geometric models from point clouds has numerous applications in CAD (e.g., reverse engineering, manufacturing, assembling) and, more in general, in shape modelling and processing. Given a segmented point cloud…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

3D object detection plays an important role in a large number of real-world applications. It requires us to estimate the localizations and the orientations of 3D objects in real scenes. In this paper, we present a new network architecture…

Incremental 3D object perception is a critical step toward embodied intelligence in dynamic indoor environments. However, existing incremental 3D detection methods rely on extensive annotations of novel classes for satisfactory performance.…

Detecting 3D objects from point clouds is a practical yet challenging task that has attracted increasing attention recently. In this paper, we propose a Label-Guided auxiliary training method for 3D object detection (LG3D), which serves as…

We present PriFit, a semi-supervised approach for label-efficient learning of 3D point cloud segmentation networks. PriFit combines geometric primitive fitting with point-based representation learning. Its key idea is to learn point…

Few-shot object detection aims to detect instances of specific categories in a query image with only a handful of support samples. Although this takes less effort than obtaining enough annotated images for supervised object detection, it…

In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve…

We introduce Few-Shot Video Object Detection (FSVOD) with three contributions to real-world visual learning challenge in our highly diverse and dynamic world: 1) a large-scale video dataset FSVOD-500 comprising of 500 classes with…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Few-shot learning aims to recognize new categories using very few labeled samples. Although few-shot learning has witnessed promising development in recent years, most existing methods adopt an average operation to calculate prototypes,…