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3D object detection based on LiDAR point cloud and prior anchor boxes is a critical technology for autonomous driving environment perception and understanding. Nevertheless, an overlooked practical issue in existing methods is the ambiguity…

Anomaly detection, which is a critical and popular topic in computer vision, aims to detect anomalous samples that are different from the normal (i.e., non-anomalous) ones. The current mainstream methods focus on anomaly detection for…

3D point clouds acquired by scanning real-world objects or scenes have found a wide range of applications including immersive telepresence, autonomous driving, surveillance, etc. They are often perturbed by noise or suffer from low density,…

In recent years, sparse voxel-based methods have become the state-of-the-arts for 3D semantic segmentation of indoor scenes, thanks to the powerful 3D CNNs. Nevertheless, being oblivious to the underlying geometry, voxel-based methods…

Transformers have become a common foundation across deep learning, yet 3D scene understanding still relies on specialized backbones with strong domain priors. This keeps the field isolated from the broader Transformer ecosystem, limiting…

Large-scale 3D point clouds can consist of hundreds of millions of points. Even after downsampling, these point clouds are too large for modern 3D neural networks. In order to develop a semantic understanding of the scene, the point clouds…

Motivated by the success of fractional pixel motion in video coding, we explore the design of motion estimation with fractional-voxel resolution for compression of color attributes of dynamic 3D point clouds. Our proposed block-based…

Most recent works on optical flow use convex upsampling as the last step to obtain high-resolution flow. In this work, we show and discuss several issues and limitations of this currently widely adopted convex upsampling approach. We…

We introduce a highly efficient method for panoptic segmentation of large 3D point clouds by redefining this task as a scalable graph clustering problem. This approach can be trained using only local auxiliary tasks, thereby eliminating the…

We propose a new approach for 3D instance segmentation based on sparse convolution and point affinity prediction, which indicates the likelihood of two points belonging to the same instance. The proposed network, built upon submanifold…

It is a common practice to exploit pyramidal feature representation to tackle the problem of scale variation in object instances. However, most of them still predict the objects in a certain range of scales based solely or mainly on a…

The multi-line LiDAR is widely used in autonomous vehicles, so point cloud-based 3D detectors are essential for autonomous driving. Extracting rich multi-scale features is crucial for point cloud-based 3D detectors in autonomous driving due…

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 propose a Point-Voxel DeConvolution (PVDeConv) module for 3D data autoencoder. To demonstrate its efficiency we learn to synthesize high-resolution point clouds of 10k points that densely describe the underlying geometry of Computer…

Geometric deep learning is increasingly important thanks to the popularity of 3D sensors. Inspired by the recent advances in NLP domain, the self-attention transformer is introduced to consume the point clouds. We develop Point Attention…

With the rapid progress of deep convolutional neural networks, in almost all robotic applications, the availability of 3D point clouds improves the accuracy of 3D semantic segmentation methods. Rendering of these irregular, unstructured,…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

3D point cloud semantic segmentation aims to group all points into different semantic categories, which benefits important applications such as point cloud scene reconstruction and understanding. Existing supervised point cloud semantic…

A central challenge in data visualization is to understand which data samples are required to generate an image of a data set in which the relevant information is encoded. In this work, we make a first step towards answering the question of…

This article addresses the problem of distilling knowledge from a large teacher model to a slim student network for LiDAR semantic segmentation. Directly employing previous distillation approaches yields inferior results due to the…