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

Deployment of deep learning models in robotics as sensory information extractors can be a daunting task to handle, even using generic GPU cards. Here, we address three of its most prominent hurdles, namely, i) the adaptation of a single…

Distributed learning algorithms aim to leverage distributed and diverse data stored at users' devices to learn a global phenomena by performing training amongst participating devices and periodically aggregating their local models'…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

Due to the few annotated labels of 3D point clouds, how to learn discriminative features of point clouds to segment object instances is a challenging problem. In this paper, we propose a simple yet effective 3D instance segmentation…

To reduce cost in storing, processing and visualizing a large-scale point cloud, we consider a randomized resampling strategy to select a representative subset of points while preserving application-dependent features. The proposed strategy…

Point clouds obtained from 3D scans are typically sparse, irregular, and noisy, and required to be consolidated. In this paper, we present the first deep learning based edge-aware technique to facilitate the consolidation of point clouds.…

Various 3D semantic attributes such as segmentation masks, geometric features, keypoints, and materials can be encoded as per-point probe functions on 3D geometries. Given a collection of related 3D shapes, we consider how to jointly…

Neural signed distance functions (SDFs) have shown powerful ability in fitting the shape geometry. However, inferring continuous signed distance fields from discrete unoriented point clouds still remains a challenge. The neural network…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

Affordance segmentation aims to decompose 3D objects into parts that serve distinct functional roles, enabling models to reason about object interactions rather than mere recognition. Existing methods, mostly following the paradigm of 3D…

Driven by the increasing demand for accurate and efficient representation of 3D data in various domains, point cloud sampling has emerged as a pivotal research topic in 3D computer vision. Recently, learning-to-sample methods have garnered…

Since the preparation of labeled data for training semantic segmentation networks of point clouds is a time-consuming process, weakly supervised approaches have been introduced to learn from only a small fraction of data. These methods are…

Given the prominence of current 3D sensors, a fine-grained analysis on the basic point cloud data is worthy of further investigation. Particularly, real point cloud scenes can intuitively capture complex surroundings in the real world, but…

This paper proposes a novel learning method for multi-task applications. Multi-task neural networks can learn to transfer knowledge across different tasks by using parameter sharing. However, sharing parameters between unrelated tasks can…

Local feature description is a fundamental yet challenging task in 3D computer vision. This paper proposes a novel descriptor, named Statistic of Deviation Angles on Subdivided Space (SDASS), of encoding geometrical and spatial information…

Recently 3D point cloud learning has been a hot topic in computer vision and autonomous driving. Due to the fact that it is difficult to manually annotate a qualitative large-scale 3D point cloud dataset, unsupervised domain adaptation…

While deep learning-based methods have demonstrated outstanding results in numerous domains, some important functionalities are missing. Resolution scalability is one of them. In this work, we introduce a novel architecture, dubbed…

Point cloud registration aims to provide estimated transformations to align point clouds, which plays a crucial role in pose estimation of various navigation systems, such as surgical guidance systems and autonomous vehicles. Despite the…

3D point cloud semantic segmentation is one of the fundamental tasks for environmental understanding. Although significant progress has been made in recent years, the performance of classes with few examples or few points is still far from…