相关论文: BiPointNet: Binary Neural Network for Point Clouds

Learning a powerful representation from point clouds is a fundamental and challenging problem in the field of computer vision. Different from images where RGB pixels are stored in the regular grid, for point clouds, the underlying semantic…

3D perception in point clouds is transforming the perception ability of future intelligent machines. Point cloud algorithms, however, are plagued by irregular memory accesses, leading to massive inefficiencies in the memory sub-system,…

The task of point cloud upsampling aims to acquire dense and uniform point sets from sparse and irregular point sets. Although significant progress has been made with deep learning models, state-of-the-art methods require ground-truth dense…

Point clouds have grown in importance in the way computers perceive the world. From LIDAR sensors in autonomous cars and drones to the time of flight and stereo vision systems in our phones, point clouds are everywhere. Despite their…

In this paper, we aim at addressing two critical issues in the 3D detection task, including the exploitation of multiple sensors~(namely LiDAR point cloud and camera image), as well as the inconsistency between the localization and…

Despite the achievements of recent binarization methods on reducing the performance degradation of Binary Neural Networks (BNNs), gradient mismatching caused by the Straight-Through-Estimator (STE) still dominates quantized networks. This…

Model binarization is an effective method of compressing neural networks and accelerating their inference process. However, a significant performance gap still exists between the 1-bit model and the 32-bit one. The empirical study shows…

Recent developments in the field of deep learning for 3D data have demonstrated promising potential for end-to-end learning directly from point clouds. However, many real-world point clouds contain a large class im-balance due to the…

Edge-cloud co-inference enables efficient deep neural network (DNN) deployment by splitting the architecture between an edge device and cloud server, crucial for resource-constraint edge devices. This approach requires balancing on-device…

Common deep learning models for 3D environment perception often use pillarization/voxelization methods to convert point cloud data into pillars/voxels and then process it with a 2D/3D convolutional neural network (CNN). The pioneer work…

Segmentation of three-dimensional (3D) point clouds is an important task for autonomous systems. However, success of segmentation algorithms depends greatly on the quality of the underlying point clouds (resolution, completeness etc.). In…

Model binarization has made significant progress in enabling real-time and energy-efficient computation for convolutional neural networks (CNN), offering a potential solution to the deployment challenges faced by Vision Transformers (ViTs)…

Point clouds are unstructured and unordered data, as opposed to images. Thus, most machine learning approach developed for image cannot be directly transferred to point clouds. In this paper, we propose a generalization of discrete…

Large and rich data is a prerequisite for effective training of deep neural networks. However, the irregularity of point cloud data makes manual annotation time-consuming and laborious. Self-supervised representation learning, which…

Deep learning approaches to 3D shape segmentation are typically formulated as a multi-class labeling problem. Existing models are trained for a fixed set of labels, which greatly limits their flexibility and adaptivity. We opt for top-down…

The challenges of learning a robust 6D pose function lie in 1) severe occlusion and 2) systematic noises in depth images. Inspired by the success of point-pair features, the goal of this paper is to recover the 6D pose of an object instance…

Data rebalancing techniques, including oversampling and undersampling, are a common approach to addressing the challenges of imbalanced data. To tackle unresolved problems related to both oversampling and undersampling, we propose a new…

Topology matters. Despite the recent success of point cloud processing with geometric deep learning, it remains arduous to capture the complex topologies of point cloud data with a learning model. Given a point cloud dataset containing…

The boundary element method (BEM) provides an efficient numerical framework for solving multiple scattering problems in unbounded homogeneous domains, since it reduces the discretization to the domain boundaries, thereby condensing the…

The deep neural networks, such as the Deep-FSMN, have been widely studied for keyword spotting (KWS) applications. However, computational resources for these networks are significantly constrained since they usually run on-call on edge…