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Query-based transformer has shown great potential in constructing long-range attention in many image-domain tasks, but has rarely been considered in LiDAR-based 3D object detection due to the overwhelming size of the point cloud data. In…

We introduce PointConvFormer, a novel building block for point cloud based deep network architectures. Inspired by generalization theory, PointConvFormer combines ideas from point convolution, where filter weights are only based on relative…

Point cloud completion networks are conventionally trained to minimize the disparities between the completed point cloud and the ground-truth counterpart. However, an incomplete object-level point cloud can have multiple valid completion…

Point clouds collected from real-world environments are often incomplete due to factors such as limited sensor resolution, single viewpoints, occlusions, and noise. These challenges make point cloud completion essential for various…

As a promising scheme of self-supervised learning, masked autoencoding has significantly advanced natural language processing and computer vision. Inspired by this, we propose a neat scheme of masked autoencoders for point cloud…

Diffusion models are a powerful framework for tackling ill-posed problems, with recent advancements extending their use to point cloud upsampling. Despite their potential, existing diffusion models struggle with inefficiencies as they map…

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…

This work proposes a general-purpose, fully-convolutional network architecture for efficiently processing large-scale 3D data. One striking characteristic of our approach is its ability to process unorganized 3D representations such as…

As a popular representation of 3D data, point cloud may contain noise and need to be filtered before use. Existing point cloud filtering methods either cannot preserve sharp features or result in uneven point distribution in the filtered…

We present TransLPC, a novel detection model for large point clouds that is based on a transformer architecture. While object detection with transformers has been an active field of research, it has proved difficult to apply such models to…

Point cloud completion is a generation and estimation issue derived from the partial point clouds, which plays a vital role in the applications in 3D computer vision. The progress of deep learning (DL) has impressively improved the…

Real-time registration of partially overlapping point clouds has emerging applications in cooperative perception for autonomous vehicles and multi-agent SLAM. The relative translation between point clouds in these applications is higher…

We present Point-BERT, a new paradigm for learning Transformers to generalize the concept of BERT to 3D point cloud. Inspired by BERT, we devise a Masked Point Modeling (MPM) task to pre-train point cloud Transformers. Specifically, we…

Self-supervised learning on point clouds has gained a lot of attention recently, since it addresses the label-efficiency and domain-gap problems on point cloud tasks. In this paper, we propose a novel self-supervised framework to learn…

Pre-trained point cloud analysis models have shown promising advancements in various downstream tasks, yet their effectiveness is typically suffering from low-quality point cloud (i.e., noise and incompleteness), which is a common issue in…

Point clouds are a very efficient way to represent volumetric data in medical imaging. First, they do not occupy resources for empty spaces and therefore can avoid trade-offs between resolution and field-of-view for voxel-based 3D…

Point clouds are often sparse and incomplete, which imposes difficulties for real-world applications. Existing shape completion methods tend to generate rough shapes without fine-grained details. Considering this, we introduce a two-branch…

Point cloud completion is essential for robust 3D perception in safety-critical applications such as robotics and augmented reality. However, existing models perform static inference and rely heavily on inductive biases learned during…

Point cloud completion estimates complete shapes from incomplete point clouds to obtain higher-quality point cloud data. Most existing methods only consider global object features, ignoring spatial and semantic information of adjacent…

We propose a novel convolutional operator for the task of point cloud completion. One striking characteristic of our approach is that, conversely to related work it does not require any max-pooling or voxelization operation. Instead, the…