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

The rapid advancement of deep learning models often attributes to their ability to leverage massive training data. In contrast, such privilege has not yet fully benefited 3D deep learning, mainly due to the limited availability of…

An effective pre-training framework with universal 3D representations is extremely desired in perceiving large-scale dynamic scenes. However, establishing such an ideal framework that is both task-generic and label-efficient poses a…

Learning robust and scalable visual representations from massive multi-view video data remains a challenge in computer vision and autonomous driving. Existing pre-training methods either rely on expensive supervised learning with 3D…

Multi-view spatial reasoning remains difficult for current vision-language models. Even when multiple viewpoints are available, models often underutilize cross-view relations and instead rely on single-image shortcuts, leading to fragile…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

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…

Cross-modality registration between 2D images from cameras and 3D point clouds from LiDARs is a crucial task in computer vision and robotic. Previous methods estimate 2D-3D correspondences by matching point and pixel patterns learned by…

We present a novel approach to learning a point-wise, meaningful embedding for point-clouds in an unsupervised manner, through the use of neural-networks. The domain of point-cloud processing via neural-networks is rapidly evolving, with…

Introducing BERT into cross-modal settings raises difficulties in its optimization for handling multiple modalities. Both the BERT architecture and training objective need to be adapted to incorporate and model information from different…

Unsupervised pre-training has been proven as an effective approach to boost various downstream tasks given limited labeled data. Among various methods, contrastive learning learns a discriminative representation by constructing positive and…

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the…

Training models to apply linguistic knowledge and visual concepts from 2D images to 3D world understanding is a promising direction that researchers have only recently started to explore. In this work, we design a novel 3D pre-training…

We propose Domain-Conditioned Meta-Contrastive Learning, a framework for improving the cross-domain generalization of vision-language models. While contrastive models such as CLIP achieve strong performance through large-scale training,…

Unsupervised point cloud segmentation is critical for embodied artificial intelligence and autonomous driving, as it mitigates the prohibitive cost of dense point-level annotations required by fully supervised methods. While integrating 2D…

Masked Autoencoders learn strong visual representations and achieve state-of-the-art results in several independent modalities, yet very few works have addressed their capabilities in multi-modality settings. In this work, we focus on point…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Recently, multi-modal masked autoencoders (MAE) has been introduced in 3D self-supervised learning, offering enhanced feature learning by leveraging both 2D and 3D data to capture richer cross-modal representations. However, these…

Recent vision-language models (VLMs) such as CLIP demonstrate impressive cross-modal reasoning, extending beyond images to 3D perception. Yet, these models remain fragile under domain shifts, especially when adapting from synthetic to…

Global registration of point clouds aims to find an optimal alignment of a sequence of 2D or 3D point sets. In this paper, we present a novel method that takes advantage of current deep learning techniques for unsupervised learning of…

Recently, the self-supervised learning framework data2vec has shown inspiring performance for various modalities using a masked student-teacher approach. However, it remains open whether such a framework generalizes to the unique challenges…