Related papers: Exploiting Inductive Bias in Transformer for Point…

Adapter-Tuning (AT) method involves freezing a pre-trained model and introducing trainable adapter modules to acquire downstream knowledge, thereby calibrating the model for better adaptation to downstream tasks. This paper proposes a…

Recent advances in deep learning for 3D point clouds have shown great promises in scene understanding tasks thanks to the introduction of convolution operators to consume 3D point clouds directly in a neural network. Point cloud data,…

Point cloud segmentation is one of the most important tasks in computer vision with widespread scientific, industrial, and commercial applications. The research thereof has resulted in many breakthroughs in 3D object and scene…

In this work, we present Point Transformer, a deep neural network that operates directly on unordered and unstructured point sets. We design Point Transformer to extract local and global features and relate both representations by…

Local feature matching is an essential technique in image matching and plays a critical role in a wide range of vision-based applications. However, existing Transformer-based detector-free local feature matching methods encounter challenges…

Recently, LiDAR point cloud processing and analysis have made great progress due to the development of 3D Transformers. However, existing 3D Transformer methods usually are computationally expensive and inefficient due to their huge and…

Methods for processing point cloud information have seen a great success in collider physics applications. One recent breakthrough in machine learning is the usage of Transformer networks to learn semantic relationships between sequences in…

3D object detection is an essential vision technique for various robotic systems, such as augmented reality and domestic robots. Transformers as versatile network architectures have recently seen great success in 3D point cloud object…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

As a fundamental aspect of human life, two-person interactions contain meaningful information about people's activities, relationships, and social settings. Human action recognition serves as the foundation for many smart applications, with…

Transformer has demonstrated promising performance in many 2D vision tasks. However, it is cumbersome to compute the self-attention on large-scale point cloud data because point cloud is a long sequence and unevenly distributed in 3D space.…

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.…

Vision Transformer (ViT) self-attention mechanism is characterized by feature collapse in deeper layers, resulting in the vanishing of low-level visual features. However, such features can be helpful to accurately represent and identify…

Exploring contextual information in the local region is important for shape understanding and analysis. Existing studies often employ hand-crafted or explicit ways to encode contextual information of local regions. However, it is hard to…

We present TransMOT, a novel transformer-based end-to-end trainable online tracker and detector for point cloud data. The model utilizes a cross- and a self-attention mechanism and is applicable to lidar data in an automotive context, as…

Automatically localizing a position based on a few natural language instructions is essential for future robots to communicate and collaborate with humans. To approach this goal, we focus on the text-to-point-cloud cross-modal localization…

While Transformers have achieved impressive success in natural language processing and computer vision, their performance on 3D point clouds is relatively poor. This is mainly due to the limitation of Transformers: a demanding need for…

The self-attention module is a key component of Transformer-based models, wherein each token pays attention to every other token. Recent studies have shown that these heads exhibit syntactic, semantic, or local behaviour. Some studies have…

Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or…

3D automatic annotation has received increased attention since manually annotating 3D point clouds is laborious. However, existing methods are usually complicated, e.g., pipelined training for 3D foreground/background segmentation,…