相关论文: PointMask: Towards Interpretable and Bias-Resilien…

Interpretable deep learning aims at developing neural architectures whose decision-making processes could be understood by their users. Among these techniqes, Concept Bottleneck Models enhance the interpretability of neural networks by…

We tackle the problem of localizing 3D point cloud submaps using complex and diverse natural language descriptions, and present Text2Loc++, a novel neural network designed for effective cross-modal alignment between language and point…

Diffusion probabilistic models are traditionally used to generate colors at fixed pixel positions in 2D images. Building on this, we extend diffusion models to point cloud semantic segmentation, where point positions also remain fixed, and…

Learning-based point cloud registration methods can handle clean point clouds well, while it is still challenging to generalize to noisy, partial, and density-varying point clouds. To this end, we propose a novel point cloud registration…

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…

Supervised machine learning often operates on the data-driven paradigm, wherein internal model parameters are autonomously optimized to converge predicted outputs with the ground truth, devoid of explicitly programming rules or a priori…

As two fundamental representation modalities of 3D objects, 3D point clouds and multi-view 2D images record shape information from different domains of geometric structures and visual appearances. In the current deep learning era,…

Among 2D convolutional networks on point clouds, point-based approaches consume point clouds of fixed size directly. By analysis of PointNet, a pioneer in introducing deep learning into point sets, we reveal that current point-based methods…

Point cloud segmentation is a fundamental task in 3D. Despite recent progress on point cloud segmentation with the power of deep networks, current learning methods based on the clean label assumptions may fail with noisy labels. Yet, class…

Numerous point-cloud understanding techniques focus on whole entities and have succeeded in obtaining satisfactory results and limited sparsity tolerance. However, these methods are generally sensitive to incomplete point clouds that are…

Recently, the self-supervised learning framework data2vec has shown inspiring performance for various modalities using a masked student-teacher approach. However, it remains open whether such a framework generalizes to the unique challenges…

Point cloud understanding is an inherently challenging problem because of the sparse and unordered structure of the point cloud in the 3D space. Recently, Contrastive Vision-Language Pre-training (CLIP) based point cloud classification…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

Deep Neural Networks (DNNs) deliver state-of-the-art performance in many image recognition and understanding applications. However, despite their outstanding performance, these models are black-boxes and it is hard to understand how they…

Point cloud denoising aims to restore clean point clouds from raw observations corrupted by noise and outliers while preserving the fine-grained details. We present a novel deep learning-based denoising model, that incorporates normalizing…

Deep neural networks endow the downsampled superpoints with highly discriminative feature representations. Previous dominant point cloud registration approaches match these feature representations as the first step, e.g., using the Sinkhorn…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

The convenience of 3D sensors has led to an increase in the use of 3D point clouds in various applications. However, the differences in acquisition devices or scenarios lead to divergence in the data distribution of point clouds, which…

Although recent point cloud analysis achieves impressive progress, the paradigm of representation learning from a single modality gradually meets its bottleneck. In this work, we take a step towards more discriminative 3D point cloud…

The wide-spread adoption of representation learning technologies in clinical decision making strongly emphasizes the need for characterizing model reliability and enabling rigorous introspection of model behavior. While the former need is…