相关论文: SimIPU: Simple 2D Image and 3D Point Cloud Unsuper…

Though a number of point cloud learning methods have been proposed to handle unordered points, most of them are supervised and require labels for training. By contrast, unsupervised learning of point cloud data has received much less…

The 3D contrastive learning paradigm has demonstrated remarkable performance in downstream tasks through pretraining on point cloud data. Recent advances involve additional 2D image priors associated with 3D point clouds for further…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

Contrastive Language-Image Pre-training, benefiting from large-scale unlabeled text-image pairs, has demonstrated great performance in open-world vision understanding tasks. However, due to the limited Text-3D data pairs, adapting the…

Self-supervised pre-training has achieved remarkable success in NLP and 2D vision. However, these advances have yet to translate to 3D data. Techniques like masked reconstruction face inherent challenges on unstructured point clouds, while…

3D perception in LiDAR point clouds is crucial for a self-driving vehicle to properly act in 3D environment. However, manually labeling point clouds is hard and costly. There has been a growing interest in self-supervised pre-training of 3D…

Leveraging pre-trained 2D image representations in behavior cloning policies has achieved great success and has become a standard approach for robotic manipulation. However, such representations fail to capture the 3D spatial information…

Recently, great progress has been made in 3D deep learning with the emergence of deep neural networks specifically designed for 3D point clouds. These networks are often trained from scratch or from pre-trained models learned purely from…

Unsupervised 3D representation learning reduces the burden of labeling multimodal 3D data for fusion perception tasks. Among different pre-training paradigms, differentiable-rendering-based methods have shown most promise. However, existing…

Contrastive learning has emerged as a promising paradigm for 3D open-world understanding, i.e., aligning point cloud representation to image and text embedding space individually. In this paper, we introduce MixCon3D, a simple yet effective…

Existing approaches for unsupervised point cloud pre-training are constrained to either scene-level or point/voxel-level instance discrimination. Scene-level methods tend to lose local details that are crucial for recognizing the road…

The core of self-supervised point cloud learning lies in setting up appropriate pretext tasks, to construct a pre-training framework that enables the encoder to perceive 3D objects effectively. In this paper, we integrate two prevalent…

State-of-the-art 3D models, which excel in recognition tasks, typically depend on large-scale datasets and well-defined category sets. Recent advances in multi-modal pre-training have demonstrated potential in learning 3D representations by…

Annotating large-scale point clouds is highly time-consuming and often infeasible for many complex real-world tasks. Point cloud pre-training has therefore become a promising strategy for learning discriminative representations without…

Transfer learning has long been a key factor in the advancement of many fields including 2D image analysis. Unfortunately, its applicability in 3D data processing has been relatively limited. While several approaches for point cloud…

We introduce Duoduo CLIP, a model for 3D representation learning that learns shape encodings from multi-view images instead of point clouds. The choice of multi-view images allows us to leverage 2D priors from off-the-shelf CLIP models to…

Unsupervised learning on 3D point clouds has undergone a rapid evolution, especially thanks to data augmentation-based contrastive methods. However, data augmentation is not ideal as it requires a careful selection of the type of…

Pre-training on large-scale unlabeled datasets contribute to the model achieving powerful performance on 3D vision tasks, especially when annotations are limited. However, existing rendering-based self-supervised frameworks are…

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…

Reducing the quantity of annotations required for supervised training is vital when labels are scarce and costly. This reduction is particularly important for semantic segmentation tasks involving 3D datasets, which are often significantly…