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

Human skeleton point clouds are commonly used to automatically classify and predict the behaviour of others. In this paper, we use a contrastive self-supervised learning method, SimCLR, to learn representations that capture the semantics of…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Contrastive learning (CL) for Vision Transformers (ViTs) in image domains has achieved performance comparable to CL for traditional convolutional backbones. However, in 3D point cloud pretraining with ViTs, masked autoencoder (MAE) modeling…

Diffusion-based models, widely used in text-to-image generation, have proven effective in 2D representation learning. Recently, this framework has been extended to 3D self-supervised learning by constructing a conditional point generator…

Remote sensing change detection, identifying changes between scenes of the same location, is an active area of research with a broad range of applications. Recent advances in multimodal self-supervised pretraining have resulted in…

We present a new self-supervised paradigm on point cloud sequence understanding. Inspired by the discriminative and generative self-supervised methods, we design two tasks, namely point cloud sequence based Contrastive Prediction and…

Recently Transformer-based models have advanced point cloud understanding by leveraging self-attention mechanisms, however, these methods often overlook latent information in less prominent regions, leading to increased sensitivity to…

Aligning partial views of a scene into a single whole is essential to understanding one's environment and is a key component of numerous robotics tasks such as SLAM and SfM. Recent approaches have proposed end-to-end systems that can…

Self-supervised learning of point cloud aims to leverage unlabeled 3D data to learn meaningful representations without reliance on manual annotations. However, current approaches face challenges such as limited data diversity and inadequate…

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…

LiDAR-based 3D detection has made great progress in recent years. However, the performance of 3D detectors is considerably limited when deployed in unseen environments, owing to the severe domain gap problem. Existing domain adaptive 3D…

Robust imitation learning for robot manipulation requires comprehensive 3D perception, yet many existing methods struggle in cluttered environments. Fixed camera view approaches are vulnerable to perspective changes, and 3D point cloud…

Despite recent success of self-supervised based contrastive learning model for 3D point clouds representation, the adversarial robustness of such pre-trained models raised concerns. Adversarial contrastive learning (ACL) is considered an…

3D Shape represented as point cloud has achieve advancements in multimodal pre-training to align image and language descriptions, which is curial to object identification, classification, and retrieval. However, the discrete representations…

In this paper, we explore a critical yet under-investigated issue: how to learn robust and well-generalized 3D representation from pre-trained vision language models such as CLIP. Previous works have demonstrated that cross-modal…

Current 3D self-supervised learning methods of 3D scenes face a data desert issue, resulting from the time-consuming and expensive collecting process of 3D scene data. Conversely, 3D shape datasets are easier to collect. Despite this,…

Visual place recognition is a key to unlocking spatial navigation for animals, humans and robots. While state-of-the-art approaches are trained in a supervised manner and therefore hardly capture the information needed for generalizing to…

Multimodal models, such as the Contrastive Language-Image Pre-training (CLIP) model, have demonstrated remarkable success in aligning visual and linguistic representations. However, these models exhibit limitations when applied to…

To alleviate the cost of collecting and annotating large-scale point cloud datasets, we propose an unsupervised learning approach to learn features from unlabeled point cloud "3D object" dataset by using part contrasting and object…

The rapid progress in 3D scene understanding has come with growing demand for data; however, collecting and annotating 3D scenes (e.g. point clouds) are notoriously hard. For example, the number of scenes (e.g. indoor rooms) that can be…