Related papers: SPOT: Scalable 3D Pre-training via Occupancy Predi…

Recent advancements in multimodal pre-training have shown promising efficacy in 3D representation learning by aligning multimodal features across 3D shapes, their 2D counterparts, and language descriptions. However, the methods used by…

3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and…

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…

A comprehensive understanding of 3D scenes is essential for autonomous vehicles (AVs), and among various perception tasks, occupancy estimation plays a central role by providing a general representation of drivable and occupied space.…

3D perception in LiDAR point clouds is crucial for a self-driving vehicle to properly act in 3D environment. However, manually labeling point clouds is hard and costly. There has been a growing interest in self-supervised pre-training of 3D…

LiDAR sensors are an integral part of modern autonomous vehicles as they provide an accurate, high-resolution 3D representation of the vehicle's surroundings. However, it is computationally difficult to make use of the ever-increasing…

The rapid advancement of deep learning models often attributes to their ability to leverage massive training data. In contrast, such privilege has not yet fully benefited 3D deep learning, mainly due to the limited availability of…

3D object detection has become indispensable in the field of autonomous driving. To date, gratifying breakthroughs have been recorded in 3D object detection research, attributed to deep learning. However, deep learning algorithms are…

Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing…

Masked autoencoding has achieved great success for self-supervised learning in the image and language domains. However, mask based pretraining has yet to show benefits for point cloud understanding, likely due to standard backbones like…

Recently, large-scale pre-trained models such as Segment-Anything Model (SAM) and Contrastive Language-Image Pre-training (CLIP) have demonstrated remarkable success and revolutionized the field of computer vision. These foundation vision…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…

Vision-language models pre-trained at large scale have shown unprecedented adaptability and generalization to downstream tasks. Although its discriminative potential has been widely explored, its reliability and uncertainty are still…

Currently, under supervised learning, a model pretrained by a large-scale nature scene dataset and then fine-tuned on a few specific task labeling data is the paradigm that has dominated the knowledge transfer learning. It has reached the…

Building a robust perception module is crucial for visuomotor policy learning. While recent methods incorporate pre-trained 2D foundation models into robotic perception modules to leverage their strong semantic understanding, they struggle…

Mobile robots and autonomous vehicles rely on multi-modal sensor setups to perceive and understand their surroundings. Aside from cameras, LiDAR sensors represent a central component of state-of-the-art perception systems. In addition to…

Transformers have shown superior performance on various computer vision tasks with their capabilities to capture long-range dependencies. Despite the success, it is challenging to directly apply Transformers on point clouds due to their…

Weakly supervised LiDAR semantic segmentation has made significant strides with limited labeled data. However, most existing methods focus on the network training under weak supervision, while efficient annotation strategies remain largely…

The significant achievements of pre-trained models leveraging large volumes of data in the field of NLP and 2D vision inspire us to explore the potential of extensive data pre-training for 3D perception in autonomous driving. Toward this…

Labeling LiDAR point clouds is notoriously time-and-energy-consuming, which spurs recent unsupervised 3D representation learning methods to alleviate the labeling burden in LiDAR perception via pretrained weights. Almost all existing work…