相关论文: 3DViewGraph: Learning Global Features for 3D Shape…

We propose a novel framework to learn 3D point cloud semantics from 2D multi-view image observations containing pose error. On the one hand, directly learning from the massive, unstructured and unordered 3D point cloud is computationally…

Accurately perceiving dynamic environments is a fundamental task for autonomous driving and robotic systems. Existing methods inadequately utilize temporal information, relying mainly on local temporal interactions between adjacent frames…

3D vision-language (VL) reasoning has gained significant attention due to its potential to bridge the 3D physical world with natural language descriptions. Existing approaches typically follow task-specific, highly specialized paradigms.…

Modeling a 3D volumetric shape as an assembly of decomposed shape parts is much more challenging, but semantically more valuable than direct reconstruction from a full shape representation. The neural network needs to implicitly learn part…

The surge in 3D modeling has led to a pronounced research emphasis on the field of 3D shape retrieval. Numerous contemporary approaches have been put forth to tackle this intricate challenge. Nevertheless, effectively addressing the…

View-based indexing schemes for 3D object retrieval are gaining popularity since they provide good retrieval results. These schemes are coherent with the theory that humans recognize objects based on their 2D appearances. The viewbased…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

Reasoning 3D shapes from 2D images is an essential yet challenging task, especially when only single-view images are at our disposal. While an object can have a complicated shape, individual parts are usually close to geometric primitives…

We present an approach for aggregating a sparse set of views of an object in order to compute a semi-implicit 3D representation in the form of a volumetric feature grid. Key to our approach is an object-centric canonical 3D coordinate…

3D visual grounding allows an embodied agent to understand visual information in real-world 3D environments based on human instructions, which is crucial for embodied intelligence. Existing 3D visual grounding methods typically rely on…

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…

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…

3D visual grounding aims to automatically locate the 3D region of the specified object given the corresponding textual description. Existing works fail to distinguish similar objects especially when multiple referred objects are involved in…

Graph learning has emerged as a promising technique for multi-view clustering with its ability to learn a unified and robust graph from multiple views. However, existing graph learning methods mostly focus on the multi-view consistency…

We propose a novel technique for producing high-quality 3D models that match a given target object image or scan. Our method is based on retrieving an existing shape from a database of 3D models and then deforming its parts to match the…

LiDAR-based localization approach is a fundamental module for large-scale navigation tasks, such as last-mile delivery and autonomous driving, and localization robustness highly relies on viewpoints and 3D feature extraction. Our previous…

3D occupancy, an advanced perception technology for driving scenarios, represents the entire scene without distinguishing between foreground and background by quantifying the physical space into a grid map. The widely adopted…

Learning discriminative shape representation directly on point clouds is still challenging in 3D shape analysis and understanding. Recent studies usually involve three steps: first splitting a point cloud into some local regions, then…

The matching of 3D shapes has been extensively studied for shapes represented as surface meshes, as well as for shapes represented as point clouds. While point clouds are a common representation of raw real-world 3D data (e.g. from laser…

Several popular approaches to 3D vision tasks process multiple views of the input independently with deep neural networks pre-trained on natural images, achieving view permutation invariance through a single round of pooling over all views.…