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Pre-trained large-scale models have exhibited remarkable efficacy in computer vision, particularly for 2D image analysis. However, when it comes to 3D point clouds, the constrained accessibility of data, in contrast to the vast repositories…

Recent advances in automotive four-dimensional (4D) Radar have enabled access to raw 4D Radar Tensor (4DRT), offering richer spatial and Doppler information than conventional point clouds. While most existing methods rely on heavily…

The manual annotation for large-scale point clouds costs a lot of time and is usually unavailable in harsh real-world scenarios. Inspired by the great success of the pre-training and fine-tuning paradigm in both vision and language tasks,…

Real-world sensors often produce incomplete, irregular, and noisy point clouds, making point cloud completion increasingly important. However, most existing completion methods rely on large paired datasets for training, which is…

Point cloud is often regarded as a discrete sampling of Riemannian manifold and plays a pivotal role in the 3D image interpretation. Particularly, rotation perturbation, an unexpected small change in rotation caused by various factors (like…

Retrieval in 3D point clouds is a challenging task that consists in retrieving the most similar point clouds to a given query within a reference of 3D points. Current methods focus on comparing descriptors of point clouds in order to…

Given the rapid development of 3D scanners, point clouds are becoming popular in AI-driven machines. However, point cloud data is inherently sparse and irregular, causing significant difficulties for machine perception. In this work, we…

Adversarial attacks pose a significant threat to learning-based 3D point cloud models, critically undermining their reliability in security-sensitive applications. Existing defense methods often suffer from (1) high computational overhead…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

Although the diffusion model has achieved remarkable performance in the field of image generation, its high inference delay hinders its wide application in edge devices with scarce computing resources. Therefore, many training-free sampling…

The commonly adopted detect-then-match approach to registration finds difficulties in the cross-modality cases due to the incompatible keypoint detection and inconsistent feature description. We propose, 2D3D-MATR, a detection-free method…

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.…

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.…

Currently, the divergence in distributions of design and operational data, and large computational complexity are limiting factors in the adoption of CNNs in real-world applications. For instance, person re-identification systems typically…

As the development of 3D sensors, registration of 3D data (e.g. point cloud) coming from different kind of sensor is dispensable and shows great demanding. However, point cloud registration between different sensors is challenging because…

State-of-the-art 3D models, which excel in recognition tasks, typically depend on large-scale datasets and well-defined category sets. Recent advances in multi-modal pre-training have demonstrated potential in learning 3D representations by…

Surface reconstruction from point clouds is vital for 3D computer vision. State-of-the-art methods leverage large datasets to first learn local context priors that are represented as neural network-based signed distance functions (SDFs)…

Data augmentation is a powerful technique to enhance the performance of a deep learning task but has received less attention in 3D deep learning. It is well known that when 3D shapes are sparsely represented with low point density, the…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…