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Visual localization plays an important role for intelligent robots and autonomous driving, especially when the accuracy of GNSS is unreliable. Recently, camera localization in LiDAR maps has attracted more and more attention for its low…

Point clouds obtained from capture devices or 3D reconstruction techniques are often noisy and interfere with downstream tasks. The paper aims to recover the underlying surface of noisy point clouds. We design a novel model, NoiseTrans,…

3D point clouds captured from real-world sensors frequently encompass noisy points due to various obstacles, such as occlusion, limited resolution, and variations in scale. These challenges hinder the deployment of pre-trained point cloud…

The recent success of neural networks enables a better interpretation of 3D point clouds, but processing a large-scale 3D scene remains a challenging problem. Most current approaches divide a large-scale scene into small regions and combine…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

Multimodal remote sensing data, including spectral and lidar or photogrammetry, is crucial for achieving satisfactory land-use / land-cover classification results in urban scenes. So far, most studies have been conducted in a 2D context.…

In autonomous driving, 3D object detection based on multi-modal data has become an indispensable approach when facing complex environments around the vehicle. During multi-modal detection, LiDAR and camera are simultaneously applied for…

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…

Point cloud obtained from 3D scanning is often sparse, noisy, and irregular. To cope with these issues, recent studies have been separately conducted to densify, denoise, and complete inaccurate point cloud. In this paper, we advocate 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…

Transformer-based models have significantly advanced natural language processing and computer vision in recent years. However, due to the irregular and disordered structure of point cloud data, transformer-based models for 3D deep learning…

Object detection in three-dimensional (3D) space attracts much interest from academia and industry since it is an essential task in AI-driven applications such as robotics, autonomous driving, and augmented reality. As the basic format of…

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…

The point cloud learning community witnesses a modeling shift from CNNs to Transformers, where pure Transformer architectures have achieved top accuracy on the major learning benchmarks. However, existing point Transformers are…

Recovering high-quality surfaces from irregular point cloud is ill-posed unless strong geometric priors are available. We introduce an implicit self-prior approach that distills a shape-specific prior directly from the input point cloud…

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…

Generalizable 3D object reconstruction from single-view RGB-D images remains a challenging task, particularly with real-world data. Current state-of-the-art methods develop Transformer-based implicit field learning, necessitating an…

Pre-trained point cloud models have found extensive applications in 3D understanding tasks like object classification and part segmentation. However, the prevailing strategy of full fine-tuning in downstream tasks leads to large per-task…

Recent progress of semantic point clouds analysis is largely driven by synthetic data (e.g., the ModelNet and the ShapeNet), which are typically complete, well-aligned and noisy free. Therefore, representations of those ideal synthetic…

Point cloud segmentation, which helps us understand the environment of specific structures and objects, can be performed in class-specific and class-agnostic ways. We propose a novel region-based transformer model called Region-Transformer…