Related papers: SO3UFormer: Learning Intrinsic Spherical Features …
In recent years, transformer-based models have exhibited considerable potential in point cloud instance segmentation. Despite the promising performance achieved by existing methods, they encounter challenges such as instance query…
Orbit recovery is a central problem in both mathematics and applied sciences, with important applications to structural biology. This paper focuses on recovering generic orbits of functions on ${\mathbb R}^{n}$ and the sphere $S^{n-1}$…
Semantic segmentation usually benefits from global contexts, fine localisation information, multi-scale features, etc. To advance Transformer-based segmenters with these aspects, we present a simple yet powerful semantic segmentation…
Most invariance-based self-supervised methods rely on single object-centric images (e.g., ImageNet images) for pretraining, learning features that invariant to geometric transformation. However, when images are not object-centric, the…
Self-supervised monocular depth estimation has been widely investigated to estimate depth images and relative poses from RGB images. This framework is attractive for researchers because the depth and pose networks can be trained from just…
Omnidirectional images are increasingly used in robotics and vision due to their wide field of view. However, extending 3D Gaussian Splatting (3DGS) to panoramic camera models remains challenging, as existing formulations are designed for…
Panoramic image enables deeper understanding and more holistic perception of $360^\circ$ surrounding environment, which can naturally encode enriched scene context information compared to standard perspective image. Previous work has made…
Segment matching is an important intermediate task in computer vision that establishes correspondences between semantically or geometrically coherent regions across images. Unlike keypoint matching, which focuses on localized features,…
Recently, fully-transformer architectures have replaced the defacto convolutional architecture for the 3D human pose estimation task. In this paper we propose \textbf{\textit{ConvFormer}}, a novel convolutional transformer that leverages a…
Learning equivariant representations is a promising way to reduce sample and model complexity and improve the generalization performance of deep neural networks. The spherical CNNs are successful examples, producing SO(3)-equivariant…
Spatio-temporal traffic forecasting is challenging due to complex temporal patterns, dynamic spatial structures, and diverse input formats. Although Transformer-based models offer strong global modeling, they often struggle with rigid…
Recently,vision-based robotic manipulation has garnered significant attention and witnessed substantial advancements. 2D image-based and 3D point cloud-based policy learning represent two predominant paradigms in the field, with recent…
Reconstructing surgical scenes from monocular endoscopic video is critical for advancing robotic-assisted surgery. However, the application of state-of-the-art general-purpose reconstruction models is constrained by two key challenges: the…
Using convolutional neural networks for 360images can induce sub-optimal performance due to distortions entailed by a planar projection. The distortion gets deteriorated when a rotation is applied to the 360image. Thus, many researches…
3D Large Vision-Language Models (3D LVLMs) built upon Large Language Models (LLMs) have achieved remarkable progress across various multimodal tasks. However, their inherited position-dependent modeling mechanism, Rotary Position Embedding…
As acquiring pixel-wise annotations of real-world images for semantic segmentation is a costly process, a model can instead be trained with more accessible synthetic data and adapted to real images without requiring their annotations. This…
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense,…
A complete representation of 3D objects requires characterizing the space of deformations in an interpretable manner, from articulations of a single instance to changes in shape across categories. In this work, we improve on a prior…
Convolutional neural networks (CNNs) have been widely used in various vision tasks, e.g. image classification, semantic segmentation, etc. Unfortunately, standard 2D CNNs are not well suited for spherical signals such as panorama images or…
Modern image encoders achieve high generalization by decoupling semantic meaning from resolution, an ability yet to be fully realized in the 3D domain. We investigate the failure of 3D point cloud encoders to achieve similar generalization…