Related papers: Rotation-Adaptive Point Cloud Domain Generalizatio…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

Automatic synthesis of high quality 3D shapes is an ongoing and challenging area of research. While several data-driven methods have been proposed that make use of neural networks to generate 3D shapes, none of them reach the level of…

3D object classification and segmentation using deep neural networks has been extremely successful. As the problem of identifying 3D objects has many safety-critical applications, the neural networks have to be robust against adversarial…

Point cloud data has been extensively studied due to its compact form and flexibility in representing complex 3D structures. The ability of point cloud data to accurately capture and represent intricate 3D geometry makes it an ideal choice…

Point cloud data plays an essential role in robotics and self-driving applications. Yet, annotating point cloud data is time-consuming and nontrivial while they enable learning discriminative 3D representations that empower downstream…

Emergence of the utility of 3D point cloud data in safety-critical vision tasks (e.g., ADAS) urges researchers to pay more attention to the robustness of 3D representations and deep networks. To this end, we develop an attack and defense…

Domain adaptive object detection is challenging due to distinctive data distribution between source domain and target domain. In this paper, we propose a unified multi-granularity alignment based object detection framework towards…

Feature descriptors of point clouds are used in several applications, such as registration and part segmentation of 3D point clouds. Learning discriminative representations of local geometric features is unquestionably the most important…

Many point cloud classification methods are developed under the assumption that all point clouds in the dataset are well aligned with the canonical axes so that the 3D Cartesian point coordinates can be employed to learn features. When…

Recent advances in autonomous driving have underscored the importance of accurate 3D object detection, with LiDAR playing a central role due to its robustness under diverse visibility conditions. However, different vehicle platforms often…

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…

In this paper, we introduce a novel unsupervised domain adaptation technique for the task of 3D keypoint prediction from a single depth scan or image. Our key idea is to utilize the fact that predictions from different views of the same or…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

Point cloud processing has become a cornerstone technology in many 3D vision tasks. However, arbitrary rotations introduce variations in point cloud orientations, posing a long-standing challenge for effective representation learning. The…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

Deep learning-based 3D object detection has achieved unprecedented success with the advent of large-scale autonomous driving datasets. However, drastic performance degradation remains a critical challenge for cross-domain deployment. In…

Object detection models trained on a source domain often exhibit significant performance degradation when deployed in unseen target domains, due to various kinds of variations, such as sensing conditions, environments and data…

This paper concerns the research problem of point cloud registration to find the rigid transformation to optimally align the source point set with the target one. Learning robust point cloud registration models with deep neural networks has…

While test-time adaptation (TTA) methods effectively address domain shifts by dynamically adapting pre-trained models to target domain data during online inference, their application to 3D point clouds is hindered by their irregular and…

Point cloud processing and 3D shape understanding are very challenging tasks for which deep learning techniques have demonstrated great potentials. Still further progresses are essential to allow artificial intelligent agents to interact…