相关论文: Learning Semantic Segmentation of Large-Scale Poin…

Representation learning from 3D point clouds is challenging due to their inherent nature of permutation invariance and irregular distribution in space. Existing deep learning methods follow a hierarchical feature extraction paradigm in…

Addressing the annotation challenge in 3D Point Cloud segmentation has inspired research into weakly supervised learning. Existing approaches mainly focus on exploiting manifold and pseudo-labeling to make use of large unlabeled data…

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…

Recently, Mamba-based methods have demonstrated impressive performance in point cloud representation learning by leveraging State Space Model (SSM) with the efficient context modeling ability and linear complexity. However, these methods…

The recent success of neural networks enables a better interpretation of 3D point clouds, but processing a large-scale 3D scene remains a challenging problem. Most current approaches divide a large-scale scene into small regions and combine…

Point clouds, being the simple and compact representation of surface geometry of 3D objects, have gained increasing popularity with the evolution of deep learning networks for classification and segmentation tasks. Unlike human, teaching…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…

We propose SeedAL, a method to seed active learning for efficient annotation of 3D point clouds for semantic segmentation. Active Learning (AL) iteratively selects relevant data fractions to annotate within a given budget, but requires a…

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…

Learning discriminative feature directly on point clouds is still challenging in the understanding of 3D shapes. Recent methods usually partition point clouds into local region sets, and then extract the local region features with…

Existing point cloud feature learning networks often incorporate sequences of sampling, neighborhood grouping, neighborhood-wise feature learning, and feature aggregation to learn high-semantic point features that represent the global…

Three-dimensional (3D) point clouds are important data representations in visualization applications. The rapidly growing utility and popularity of point cloud processing strongly motivate a plethora of research activities on large-scale…

The scale and quality of point cloud datasets constrain the advancement of point cloud learning. Recently, with the development of multi-modal learning, the incorporation of domain-agnostic prior knowledge from other modalities, such as…

Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…

This paper presents a novel non-local part-aware deep neural network to denoise point clouds by exploring the inherent non-local self-similarity in 3D objects and scenes. Different from existing works that explore small local patches, we…

We present a network architecture for processing point clouds that directly operates on a collection of points represented as a sparse set of samples in a high-dimensional lattice. Naively applying convolutions on this lattice scales…

The development of 2D foundation models for image segmentation has been significantly advanced by the Segment Anything Model (SAM). However, achieving similar success in 3D models remains a challenge due to issues such as non-unified data…

In this paper, we propose a method to segment regions in three-dimensional point clouds. We assume that (i) the shape and the number of regions in the point cloud are not known and (ii) the point cloud may be noisy. The method consists of…

This paper presents a framework for semantic segmentation on sparse sequential point clouds of millimeter-wave radar. Compared with cameras and lidars, millimeter-wave radars have the advantage of not revealing privacy, having a strong…

Geometric deep learning is increasingly important thanks to the popularity of 3D sensors. Inspired by the recent advances in NLP domain, the self-attention transformer is introduced to consume the point clouds. We develop Point Attention…