相关论文: Exploring Data-Efficient 3D Scene Understanding wi…

Learning on 3D scene-based point cloud has received extensive attention as its promising application in many fields, and well-annotated and multisource datasets can catalyze the development of those data-driven approaches. To facilitate the…

Current approaches for 3D scene graph prediction rely on labeled datasets to train models for a fixed set of known object classes and relationship categories. We present Open3DSG, an alternative approach to learn 3D scene graph prediction…

Object detection in 3D point clouds is a crucial task in a range of computer vision applications including robotics, autonomous cars, and augmented reality. This work addresses the object detection task in 3D point clouds using a highly…

Adverse weather conditions can severely affect the performance of LiDAR sensors by introducing unwanted noise in the measurements. Therefore, differentiating between noise and valid points is crucial for the reliable use of these sensors.…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

We propose a unified point cloud video self-supervised learning framework for object-centric and scene-centric data. Previous methods commonly conduct representation learning at the clip or frame level and cannot well capture fine-grained…

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

3D object detection aims to recover the 3D information of concerning objects and serves as the fundamental task of autonomous driving perception. Its performance greatly depends on the scale of labeled training data, yet it is costly to…

Current 3D self-supervised learning methods of 3D scenes face a data desert issue, resulting from the time-consuming and expensive collecting process of 3D scene data. Conversely, 3D shape datasets are easier to collect. Despite this,…

Instance segmentation in 3D is a challenging task due to the lack of large-scale annotated datasets. In this paper, we show that this task can be addressed effectively by leveraging instead 2D pre-trained models for instance segmentation.…

In this paper, we present a novel, scalable approach for constructing open set, instance-level 3D scene representations, advancing open world understanding of 3D environments. Existing methods require pre-constructed 3D scenes and face…

In this case study, we present a data-efficient point cloud segmentation pipeline and training framework for robust segmentation of unimproved roads and seven other classes. Our method employs a two-stage training framework: first, a…

Point cloud data has been extensively studied due to its compact form and flexibility in representing complex 3D structures. The ability of point cloud data to accurately capture and represent intricate 3D geometry makes it an ideal choice…

With the rapid advancement of technology, 3D data acquisition and utilization have become increasingly prevalent across various fields, including computer vision, robotics, and geospatial analysis. 3D data, captured through methods such as…

Scene graphs have been proven to be useful for various scene understanding tasks due to their compact and explicit nature. However, existing approaches often neglect the importance of maintaining the symmetry-preserving property when…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

3D point cloud segmentation has a wide range of applications in areas such as autonomous driving, augmented reality, virtual reality and digital twins. The point cloud data collected in real scenes often contain small objects and categories…

Performing data augmentation for learning deep neural networks is known to be important for training visual recognition systems. By artificially increasing the number of training examples, it helps reducing overfitting and improves…

Scene flow depicts the dynamics of a 3D scene, which is critical for various applications such as autonomous driving, robot navigation, AR/VR, etc. Conventionally, scene flow is estimated from dense/regular RGB video frames. With the…