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

Recent advances in 3D perception have shown impressive progress in understanding geometric structures of 3Dshapes and even scenes. Inspired by these advances in geometric understanding, we aim to imbue image-based perception with…

Robust 3D representation learning forms the perceptual foundation of spatial intelligence, enabling downstream tasks in scene understanding and embodied AI. However, learning such representations directly from unposed multi-view images…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

This paper introduces a novel self-supervised learning framework for enhancing 3D perception in autonomous driving scenes. Specifically, our approach, namely NCLR, focuses on 2D-3D neural calibration, a novel pretext task that estimates the…

Accurately detecting objects in the environment is a key challenge for autonomous vehicles. However, obtaining annotated data for detection is expensive and time-consuming. We introduce PatchContrast, a novel self-supervised point cloud…

Learning sensorimotor control policies from high-dimensional images crucially relies on the quality of the underlying visual representations. Prior works show that structured latent space such as visual keypoints often outperforms…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

In perception, multiple sensory information is integrated to map visual information from 2D views onto 3D objects, which is beneficial for understanding in 3D environments. But in terms of a single 2D view rendered from different angles,…

Image-point class incremental learning helps the 3D-points-vision robots continually learn category knowledge from 2D images, improving their perceptual capability in dynamic environments. However, some incremental learning methods address…

This paper proposes an adaptive margin contrastive learning method for 3D semantic segmentation on point clouds. Most existing methods use equally penalized objectives, which ignore the per-point ambiguities and less discriminated features…

Contrastive learning is an essential method in self-supervised learning. It primarily employs a multi-branch strategy to compare latent representations obtained from different branches and train the encoder. In the case of multi-modal…

Self-supervised representation learning has shown significant improvement in Natural Language Processing and 2D Computer Vision. However, existing methods face difficulties in representing 3D data because of its unordered and uneven…

In the field of autonomous driving, a variety of sensor data types exist, each representing different modalities of the same scene. Therefore, it is feasible to utilize data from other sensors to facilitate image compression. However, few…

Point cloud completion aims to recover partial geometric and topological shapes caused by equipment defects or limited viewpoints. Current methods either solely rely on the 3D coordinates of the point cloud to complete it or incorporate…

Open-world 3D scene understanding is a critical challenge that involves recognizing and distinguishing diverse objects and categories from 3D data, such as point clouds, without relying on manual annotations. Traditional methods struggle…

3D point-clouds and 2D images are different visual representations of the physical world. While human vision can understand both representations, computer vision models designed for 2D image and 3D point-cloud understanding are quite…

Contrastive Language-Image Pre-training (CLIP) achieves promising results in 2D zero-shot and few-shot learning. Despite the impressive performance in 2D, applying CLIP to help the learning in 3D scene understanding has yet to be explored.…

Existing neural field representations for 3D object reconstruction either (1) utilize object-level representations, but suffer from low-quality details due to conditioning on a global latent code, or (2) are able to perfectly reconstruct…

Estimating correspondences between pairs of non-rigid deformable 3D shapes remains a significant challenge in computer vision and graphics. While deep functional map methods have become the go-to solution for addressing this problem, they…