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

Human-centric visual perception (HVP) has recently achieved remarkable progress due to advancements in large-scale self-supervised pretraining (SSP). However, existing HVP models face limitations in adapting to real-world applications,…

Developing agents that can perform complex control tasks from high dimensional observations such as pixels is challenging due to difficulties in learning dynamics efficiently. In this work, we propose to learn forward and inverse dynamics…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

Self-supervised pre-training for 3D vision has drawn increasing research interest in recent years. In order to learn informative representations, a lot of previous works exploit invariances of 3D features, e.g., perspective-invariance…

As two fundamental representation modalities of 3D objects, 3D point clouds and multi-view 2D images record shape information from different domains of geometric structures and visual appearances. In the current deep learning era,…

Recent progress of semantic point clouds analysis is largely driven by synthetic data (e.g., the ModelNet and the ShapeNet), which are typically complete, well-aligned and noisy free. Therefore, representations of those ideal synthetic…

Self-supervised learning has proved effective for skeleton-based human action understanding, which is an important yet challenging topic. Previous works mainly rely on contrastive learning or masked motion modeling paradigm to model the…

Good quality reconstruction and comprehension of a scene rely on 3D estimation methods. The 3D information was usually obtained from images by stereo-photogrammetry, but deep learning has recently provided us with excellent results for…

No-reference point cloud quality assessment (NR-PCQA) aims to automatically evaluate the perceptual quality of distorted point clouds without available reference, which have achieved tremendous improvements due to the utilization of deep…

State-of-the-art 3D object detectors are often trained on massive labeled datasets. However, annotating 3D bounding boxes remains prohibitively expensive and time-consuming, particularly for LiDAR. Instead, recent works demonstrate that…

Pre-training a model and then fine-tuning it on downstream tasks has demonstrated significant success in the 2D image and NLP domains. However, due to the unordered and non-uniform density characteristics of point clouds, it is non-trivial…

Current state-of-the-art point cloud-based perception methods usually rely on large-scale labeled data, which requires expensive manual annotations. A natural option is to explore the unsupervised methodology for 3D perception tasks.…

In this paper, we are interested in understanding self-supervised pretraining through studying the capability that self-supervised representation pretraining methods learn part-aware representations. The study is mainly motivated by that…

This paper tries to address a fundamental question in point cloud self-supervised learning: what is a good signal we should leverage to learn features from point clouds without annotations? To answer that, we introduce a point cloud…

We propose Point-PNG, a novel self-supervised learning framework that generates conditional pseudo-negatives in the latent space to learn point cloud representations that are both discriminative and transformation-sensitive. Conventional…

Convolutional networks have marked their place over the last few years as the best performing model for various visual tasks. They are, however, most suited for supervised learning from large amounts of labeled data. Previous attempts have…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

Pseudo-LiDAR point cloud interpolation is a novel and challenging task in the field of autonomous driving, which aims to address the frequency mismatching problem between camera and LiDAR. Previous works represent the 3D spatial motion…

Image-to-point cross-modal learning has emerged to address the scarcity of large-scale 3D datasets in 3D representation learning. However, current methods that leverage 2D data often result in large, slow-to-train models, making them…

Training a deep network policy for robot manipulation is notoriously costly and time consuming as it depends on collecting a significant amount of real world data. To work well in the real world, the policy needs to see many instances of…