相关论文: Point-BERT: Pre-training 3D Point Cloud Transforme…

Point cloud learning is receiving increasing attention. However, most existing point cloud models lack the practical ability to deal with the unavoidable presence of unknown objects. This paper primarily discusses point cloud learning in…

Masked language modeling (MLM) pre-training models such as BERT corrupt the input by replacing some tokens with [MASK] and then train a model to reconstruct the original tokens. This is an effective technique which has led to good results…

Transformer-based models generally allocate the same amount of computation for each token in a given sequence. We develop a simple but effective "token dropping" method to accelerate the pretraining of transformer models, such as BERT,…

The recent surge in 3D data acquisition has spurred the development of geometric deep learning models for point cloud processing, boosted by the remarkable success of transformers in natural language processing. While point cloud…

Self-supervised methods have been proven effective for learning deep representations of 3D point cloud data. Although recent methods in this domain often rely on random masking of inputs, the results of this approach can be improved. We…

Existing convolutional learning methods for 3D point cloud data are divided into two paradigms: point-based methods that preserve geometric precision but often face performance challenges, and voxel-based methods that achieve high…

Masked auto-encoding is a popular and effective self-supervised learning approach to point cloud learning. However, most of the existing methods reconstruct only the masked points and overlook the local geometry information, which is also…

In this paper, we present a new method that reformulates point cloud completion as a set-to-set translation problem and design a new model, called PoinTr, which adopts a Transformer encoder-decoder architecture for point cloud completion.…

This work considers a new task in geometric deep learning: generating a triangulation among a set of points in 3D space. We present PointTriNet, a differentiable and scalable approach enabling point set triangulation as a layer in 3D…

With the rise of large-scale models trained on broad data, in-context learning has become a new learning paradigm that has demonstrated significant potential in natural language processing and computer vision tasks. Meanwhile, in-context…

The ability for robots to comprehend and execute manipulation tasks based on natural language instructions is a long-term goal in robotics. The dominant approaches for language-guided manipulation use 2D image representations, which face…

Existing LiDAR-based 3D object detection methods for autonomous driving scenarios mainly adopt the training-from-scratch paradigm. Unfortunately, this paradigm heavily relies on large-scale labeled data, whose collection can be expensive…

This paper studies the BERT pretraining of video transformers. It is a straightforward but worth-studying extension given the recent success from BERT pretraining of image transformers. We introduce BEVT which decouples video representation…

Point clouds obtained from capture devices or 3D reconstruction techniques are often noisy and interfere with downstream tasks. The paper aims to recover the underlying surface of noisy point clouds. We design a novel model, NoiseTrans,…

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…

Reconstructing meshes from point clouds is a fundamental task in computer vision with applications spanning robotics, autonomous systems, and medical imaging. Selecting an appropriate learning-based method requires understanding trade-offs…

Transformers have shown superior performance on various computer vision tasks with their capabilities to capture long-range dependencies. Despite the success, it is challenging to directly apply Transformers on point clouds due to their…

In this paper, we introduce a new vision-language pre-trained model -- ImageBERT -- for image-text joint embedding. Our model is a Transformer-based model, which takes different modalities as input and models the relationship between them.…

Recent advances in point cloud In-Context Learning (ICL) have demonstrated strong multitask capabilities. Existing approaches typically adopt a Masked Point Modeling (MPM)-based paradigm for point cloud ICL. However, MPM-based methods…

Technology to recognize the type of component represented by a point cloud is required in the reconstruction process of an as-built model of a process plant based on laser scanning. The reconstruction process of a process plant through…