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3D building models with facade details are playing an important role in many applications now. Classifying point clouds at facade-level is key to create such digital replicas of the real world. However, few studies have focused on such…

We propose an effective unsupervised 3D point cloud novelty detection approach, leveraging a general point cloud feature extractor and a one-class classifier. The general feature extractor consists of a graph-based autoencoder and is…

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…

Learning for manipulation requires using policies that have access to rich sensory information such as point clouds or RGB images. Point clouds efficiently capture geometric structures, making them essential for manipulation tasks in…

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention, but ignore their content and fail to establish relationships…

In this paper, we explore contrastive learning for few-shot classification, in which we propose to use it as an additional auxiliary training objective acting as a data-dependent regularizer to promote more general and transferable…

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…

Current methodologies in point cloud analysis predominantly explore 3D geometries, often achieved through the introduction of intricate learnable geometric extractors in the encoder or by deepening networks with repeated blocks. However,…

Few-shot object detection (FSOD) aims to expand an object detector for novel categories given only a few instances for training. However, detecting novel categories with only a few samples usually leads to the problem of misclassification.…

The analyses relying on 3D point clouds are an utterly complex task, often involving million of points, but also requiring computationally efficient algorithms because of many real-time applications; e.g. autonomous vehicle. However, point…

Point cloud is a principal data structure adopted for 3D geometric information encoding. Unlike other conventional visual data, such as images and videos, these irregular points describe the complex shape features of 3D objects, which makes…

One of the main challenges in LiDAR-based 3D object detection is that the sensors often fail to capture the complete spatial information about the objects due to long distance and occlusion. Two-stage detectors with point cloud completion…

Recent machine learning-based multi-object tracking (MOT) frameworks are becoming popular for 3-D point clouds. Most traditional tracking approaches use filters (e.g., Kalman filter or particle filter) to predict object locations in a time…

We propose Sym-Net, a novel framework for Few-Shot Segmentation (FSS) that addresses the critical issue of intra-class variation by jointly learning both query and support prototypes in a symmetrical manner. Unlike previous methods that…

Recently Transformer-based models have advanced point cloud understanding by leveraging self-attention mechanisms, however, these methods often overlook latent information in less prominent regions, leading to increased sensitivity to…

Zero-shot object detection (ZSD), the task that extends conventional detection models to detecting objects from unseen categories, has emerged as a new challenge in computer vision. Most existing approaches tackle the ZSD task with a strict…

Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion.…

Geometrical structures and the internal local region relationship, such as symmetry, regular array, junction, etc., are essential for understanding a 3D shape. This paper proposes a point cloud feature extraction network named PointSCNet,…

Learning discriminative feature directly on point clouds is still challenging in the understanding of 3D shapes. Recent methods usually partition point clouds into local region sets, and then extract the local region features with…

We propose Cos R-CNN, a simple exemplar-based R-CNN formulation that is designed for online few-shot object detection. That is, it is able to localise and classify novel object categories in images with few examples without fine-tuning. Cos…