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The ability to cope with out-of-distribution (OOD) corruptions and adversarial attacks is crucial in real-world safety-demanding applications. In this study, we develop a general mechanism to increase neural network robustness based on…

As a collection of 3D points sampled from surfaces of objects, a 3D point cloud is widely used in robotics, autonomous driving and augmented reality. Due to the physical limitations of 3D sensing devices, 3D point clouds are usually noisy,…

This paper tries to address a fundamental question in point cloud self-supervised learning: what is a good signal we should leverage to learn features from point clouds without annotations? To answer that, we introduce a point cloud…

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…

Point cloud segmentation is one of the most important tasks in computer vision with widespread scientific, industrial, and commercial applications. The research thereof has resulted in many breakthroughs in 3D object and scene…

The pre-trained point cloud model based on Masked Point Modeling (MPM) has exhibited substantial improvements across various tasks. However, two drawbacks hinder their practical application. Firstly, the positional embedding of masked…

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…

Training high-accuracy 3D detectors necessitates massive labeled 3D annotations with 7 degree-of-freedom, which is laborious and time-consuming. Therefore, the form of point annotations is proposed to offer significant prospects for…

Point cloud is a crucial representation of 3D contents, which has been widely used in many areas such as virtual reality, mixed reality, autonomous driving, etc. With the boost of the number of points in the data, how to efficiently…

We propose a new framework that formulates point cloud registration as a denoising diffusion process from noisy transformation to object transformation. During training stage, object transformation diffuses from ground-truth transformation…

Object reconstruction from 3D point clouds has been a long-standing research problem in computer vision and computer graphics, and achieved impressive progress. However, reconstruction from time-varying point clouds (a.k.a. 4D point clouds)…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

3D scene understanding from point clouds plays a vital role for various robotic applications. Unfortunately, current state-of-the-art methods use separate neural networks for different tasks like object detection or room layout estimation.…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

Point cloud classifiers with rotation robustness have been widely discussed in the 3D deep learning community. Most proposed methods either use rotation invariant descriptors as inputs or try to design rotation equivariant networks.…

Masked Autoencoders (MAE) have demonstrated promising performance in self-supervised learning for both 2D and 3D computer vision. Nevertheless, existing MAE-based methods still have certain drawbacks. Firstly, the functional decoupling…

Due to scene complexity, sensor inaccuracies, and processing imprecision, point cloud corruption is inevitable. Over-reliance on input features is the root cause of DNN vulnerabilities. It remains unclear whether this issue exists in 3D…

Self-supervised learning has not been fully explored for point cloud analysis. Current frameworks are mainly based on point cloud reconstruction. Given only 3D coordinates, such approaches tend to learn local geometric structures and…