Related papers: SGFormer: Semantic Graph Transformer for Point Clo…

Controllable scene synthesis consists of generating 3D information that satisfy underlying specifications. Thereby, these specifications should be abstract, i.e. allowing easy user interaction, whilst providing enough interface for detailed…

Graph Neural Networks (GNNs) are widely used in graph data mining tasks. Traditional GNNs follow a message passing scheme that can effectively utilize local and structural information. However, the phenomena of over-smoothing and…

Depth completion aims to predict dense depth maps with sparse depth measurements from a depth sensor. Currently, Convolutional Neural Network (CNN) based models are the most popular methods applied to depth completion tasks. However,…

Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. However, applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

Existing research addresses scene graph generation (SGG) -- a critical technology for scene understanding in images -- from a detection perspective, i.e., objects are detected using bounding boxes followed by prediction of their pairwise…

Scene understanding based on LiDAR point cloud is an essential task for autonomous cars to drive safely, which often employs spherical projection to map 3D point cloud into multi-channel 2D images for semantic segmentation. Most existing…

Although accurate and fast point cloud classification is a fundamental task in 3D applications, it is difficult to achieve this purpose due to the irregularity and disorder of point clouds that make it challenging to achieve effective and…

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…

Standard transformer-based language models, while powerful for general text, often struggle with the fine-grained syntax and entity relationships in complex technical, engineering documents. To address this, we propose the Contextual Graph…

Trajectory prediction in autonomous driving relies on accurate representation of all relevant contexts of the driving scene, including traffic participants, road topology, traffic signs, as well as their semantic relations to each other.…

This work proposes a novel approach that uses a semantic segmentation mask to obtain a 2D spatial layout of the segmentation-categories across the scene, designated by segmentation-based semantic features (SSFs). These features represent,…

Humans can easily imagine the complete 3D geometry of occluded objects and scenes. This appealing ability is vital for recognition and understanding. To enable such capability in AI systems, we propose VoxFormer, a Transformer-based…

Point cloud, an efficient 3D object representation, has become popular with the development of depth sensing and 3D laser scanning techniques. It has attracted attention in various applications such as 3D tele-presence, navigation for…

Domain-generalized urban-scene semantic segmentation (USSS) aims to learn generalized semantic predictions across diverse urban-scene styles. Unlike domain gap challenges, USSS is unique in that the semantic categories are often similar in…

Edge points on 3D point clouds can clearly convey 3D geometry and surface characteristics, therefore, edge detection is widely used in many vision applications with high industrial and commercial demands. However, the fine-grained edge…

Point cloud completion aims to recover complete 3D geometry from partial observations caused by limited viewpoints and occlusions. Existing learning-based works, including 3D Convolutional Neural Network (CNN)-based, point-based, and…

We introduce Spatial Group Convolution (SGC) for accelerating the computation of 3D dense prediction tasks. SGC is orthogonal to group convolution, which works on spatial dimensions rather than feature channel dimension. It divides input…

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…

We present ShapeFormer, a transformer-based network that produces a distribution of object completions, conditioned on incomplete, and possibly noisy, point clouds. The resultant distribution can then be sampled to generate likely…