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Many existing approaches for 3D point cloud semantic segmentation are fully supervised. These fully supervised approaches heavily rely on large amounts of labeled training data that are difficult to obtain and cannot segment new classes…

Few-shot 3D semantic segmentation aims to generate accurate semantic masks for query point clouds with only a few annotated support examples. Existing prototype-based methods typically construct compact and deterministic prototypes from the…

Deep learning systems extensively use convolution operations to process input data. Though convolution is clearly defined for structured data such as 2D images or 3D volumes, this is not true for other data types such as sparse point…

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…

Realistic and diverse 3D shape generation is helpful for a wide variety of applications such as virtual reality, gaming, and animation. Modern generative models, such as GANs and diffusion models, learn from large-scale datasets and…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

3D shape recognition has attracted more and more attention as a task of 3D vision research. The proliferation of 3D data encourages various deep learning methods based on 3D data. Now there have been many deep learning models based on…

Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…

Masked image modeling (MIM) has shown great promise for self-supervised learning (SSL) yet been criticized for learning inefficiency. We believe the insufficient utilization of training signals should be responsible. To alleviate this…

Annotation of large-scale 3D data is notoriously cumbersome and costly. As an alternative, weakly-supervised learning alleviates such a need by reducing the annotation by several order of magnitudes. We propose COARSE3D, a novel…

Annotating 3D data remains a costly bottleneck for 3D object detection, motivating the development of weakly supervised annotation methods that rely on more accessible 2D box annotations. However, relying solely on 2D boxes introduces…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

Although unsupervised feature learning has demonstrated its advantages to reducing the workload of data labeling and network design in many fields, existing unsupervised 3D learning methods still cannot offer a generic network for various…

We present a method for localizing a single camera with respect to a point cloud map in indoor and outdoor scenes. The problem is challenging because correspondences of local invariant features are inconsistent across the domains between…

It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…

Few-shot learning aims to recognize instances from novel classes with few labeled samples, which has great value in research and application. Although there has been a lot of work in this area recently, most of the existing work is based on…

Few-shot object detection (FSOD) is challenging due to unstable optimization and limited generalization arising from the scarcity of training samples. To address these issues, we propose a hybrid ensemble decoder that enhances…

Recent investigations on rotation invariance for 3D point clouds have been devoted to devising rotation-invariant feature descriptors or learning canonical spaces where objects are semantically aligned. Examinations of learning frameworks…

In recent years, semi-supervised learning has been widely explored and shows excellent data efficiency for 2D data. There is an emerging need to improve data efficiency for 3D tasks due to the scarcity of labeled 3D data. This paper…