相关论文: Visualization and Labeling of Point Clouds in Virt…

The rise of large-scale models has catalyzed in-context learning as a powerful approach for multitasking, particularly in natural language and image processing. However, its application to 3D point cloud tasks has been largely unexplored.…

In this paper, we propose an algorithm for registering sequential bounding boxes with point cloud streams. Unlike popular point cloud registration techniques, the alignment of the point cloud and the bounding box can rely on the properties…

Point clouds offer an attractive source of information to complement images in neural scene representations, especially when few images are available. Neural rendering methods based on point clouds do exist, but they do not perform well…

Place Recognition is a crucial capability for mobile robot localization and navigation. Image-based or Visual Place Recognition (VPR) is a challenging problem as scene appearance and camera viewpoint can change significantly when places are…

In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve…

Point clouds are collected nowadays from a plethora of sensors, some having higher accuracies and higher costs, some having lower accuracies but also lower costs. Not only there is a large choice for different sensors, but also these can be…

The latest developments in computer hardware, sensor technologies, and artificial intelligence can make virtual reality (VR) and virtual spaces an important part of human everyday life. Eye tracking offers not only a hands-free way of…

3D single object tracking with point clouds is a critical task in 3D computer vision. Previous methods usually input the last two frames and use the predicted box to get the template point cloud in previous frame and the search area point…

Vision-Language-Action (VLA) models align vision and language with embodied control, but their object referring ability remains limited when relying solely on text prompt, especially in cluttered or out-of-distribution (OOD) scenes. In this…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

We introduce the first data-driven multi-view 3D point tracker, designed to track arbitrary points in dynamic scenes using multiple camera views. Unlike existing monocular trackers, which struggle with depth ambiguities and occlusion, or…

The paper presents a learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Existing methods, such as PointNetVLAD, are based on unordered point cloud representation. They use PointNet…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

Detecting 3D objects from point clouds is a practical yet challenging task that has attracted increasing attention recently. In this paper, we propose a Label-Guided auxiliary training method for 3D object detection (LG3D), which serves as…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

The exploration of unknown environments using robots is a task that integrates different areas such as location, mapping, and planning. For mapping, there are numerous methods to represent the environments through which a robot can travel,…

Research connecting text and images has recently seen several breakthroughs, with models like CLIP, DALL-E 2, and Stable Diffusion. However, the connection between text and other visual modalities, such as lidar data, has received less…

Visual control policies can encounter significant performance degradation when visual conditions like lighting or camera position differ from those seen during training -- often exhibiting sharp declines in capability even for minor…

When classifying point clouds, a large amount of time is devoted to the process of engineering a reliable set of features which are then passed to a classifier of choice. Generally, such features - usually derived from the 3D-covariance…