相关论文: RobustPointSet: A Dataset for Benchmarking Robustn…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

Though a number of point cloud learning methods have been proposed to handle unordered points, most of them are supervised and require labels for training. By contrast, unsupervised learning of point cloud data has received much less…

Foundation models for point cloud data have recently grown in capability, often leveraging extensive representation learning from language or vision. In this work, we take a more controlled approach by introducing a lightweight…

While deep learning models have greatly improved the performance of most artificial intelligence tasks, they are often criticized to be untrustworthy due to the black-box problem. Consequently, many works have been proposed to study the…

Arguably one of the top success stories of deep learning is transfer learning. The finding that pre-training a network on a rich source set (eg., ImageNet) can help boost performance once fine-tuned on a usually much smaller target set, has…

Point cloud data now are popular data representations in a number of three-dimensional (3D) vision research realms. However, due to the limited performance of sensors and sensing noise, the raw data usually suffer from sparsity, noise, and…

Recent research on robustness has revealed significant performance gaps between neural image classifiers trained on datasets that are similar to the test set, and those that are from a naturally shifted distribution, such as sketches,…

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…

Unsupervised learning on 3D point clouds has undergone a rapid evolution, especially thanks to data augmentation-based contrastive methods. However, data augmentation is not ideal as it requires a careful selection of the type of…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

The task of learning from point cloud data is always challenging due to the often occurrence of noise and outliers in the data. Such data inaccuracies can significantly influence the performance of state-of-the-art deep learning networks…

Adversarial training has been actively studied in recent computer vision research to improve the robustness of models. However, due to the huge computational cost of generating adversarial samples, adversarial training methods are often…

Deep Neural Networks (DNNs) for 3D point cloud recognition are vulnerable to adversarial examples, threatening their practical deployment. Despite the many research endeavors have been made to tackle this issue in recent years, the…

3D vision with real-time LiDAR-based point cloud data became a vital part of autonomous system research, especially perception and prediction modules use for object classification, segmentation, and detection. Despite their success, point…

We introduce several new datasets namely ImageNet-A/O and ImageNet-R as well as a synthetic environment and testing suite we called CAOS. ImageNet-A/O allow researchers to focus in on the blind spots remaining in ImageNet. ImageNet-R was…

Point clouds are widely used representations of 3D data, but determining the visibility of points from a given viewpoint remains a challenging problem due to their sparse nature and lack of explicit connectivity. Traditional methods, such…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

Robust optimization has been established as a leading methodology to approach decision problems under uncertainty. To derive a robust optimization model, a central ingredient is to identify a suitable model for uncertainty, which is called…

Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or…

A recent trend in deep learning algorithms has been towards training large scale models, having high parameter count and trained on big dataset. However, robustness of such large scale models towards real-world settings is still a…