相关论文: SALA: Soft Assignment Local Aggregation for Parame…

We introduce the notion of point affiliation into feature upsampling. By abstracting a feature map into non-overlapped semantic clusters formed by points of identical semantic meaning, feature upsampling can be viewed as point affiliation…

Feedforward fully convolutional neural networks currently dominate in semantic segmentation of 3D point clouds. Despite their great success, they suffer from the loss of local information at low-level layers, posing significant challenges…

Reliable transmission of 3D point clouds over wireless channels is challenging due to time-varying signal-to-noise ratio (SNR) and limited bandwidth. This paper introduces sensitivity-aware filtering and transmission (SAFT), a learned…

Pothole detection is crucial for road safety and maintenance, traditionally relying on 2D image segmentation. However, existing 3D Semantic Pothole Segmentation research often overlooks point cloud sparsity, leading to suboptimal local…

The application of deep learning to 3D point clouds is challenging due to its lack of order. Inspired by the point embeddings of PointNet and the edge embeddings of DGCNNs, we propose three improvements to the task of point cloud analysis.…

We propose a precise and efficient normal estimation method that can deal with noise and nonuniform density for unstructured 3D point clouds. Unlike existing approaches that directly take patches and ignore the local neighborhood…

Scene understanding has been of high interest in computer vision. It encompasses not only identifying objects in a scene, but also their relationships within the given context. With this goal, a recent line of works tackles 3D semantic…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

Feature descriptors of point clouds are used in several applications, such as registration and part segmentation of 3D point clouds. Learning discriminative representations of local geometric features is unquestionably the most important…

We present a self-supervised learning approach for the semantic segmentation of lidar frames. Our method is used to train a deep point cloud segmentation architecture without any human annotation. The annotation process is automated with…

In conventional distributed learning over a network, multiple agents collaboratively build a common machine learning model. However, due to the underlying non-i.i.d. data distribution among agents, the unified learning model becomes…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

We propose GALA, a novel representation of 3D shapes that (i) excels at capturing and reproducing complex geometry and surface details, (ii) is computationally efficient, and (iii) lends itself to 3D generative modelling with modern,…

We introduce a novel method that enables parameter-efficient transfer and multi-task learning with deep neural networks. The basic approach is to learn a model patch - a small set of parameters - that will specialize to each task, instead…

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…

Learning implicit representations has been a widely used solution for surface reconstruction from 3D point clouds. The latest methods infer a distance or occupancy field by overfitting a neural network on a single point cloud. However,…

This paper presents a parameter-efficient prompt tuning method, named PPT, to adapt a large multi-modal model for 3D point cloud understanding. Existing strategies are quite expensive in computation and storage, and depend on time-consuming…

Domain Adaptation (DA) approaches achieved significant improvements in a wide range of machine learning and computer vision tasks (i.e., classification, detection, and segmentation). However, as far as we are aware, there are few methods…

Many automated processes such as auto-piloting rely on a good semantic segmentation as a critical component. To speed up performance, it is common to downsample the input frame. However, this comes at the cost of missed small objects and…

This paper presents a simple yet very effective data-driven approach to fuse both low-level and high-level local geometric features for 3D rigid data matching. It is a common practice to generate distinctive geometric descriptors by fusing…