相关论文: Box2Seg: Learning Semantics of 3D Point Clouds wit…

Point cloud data now are popular data representations in a number of three-dimensional (3D) vision research realms. However, due to the limited performance of sensors and sensing noise, the raw data usually suffer from sparsity, noise, and…

3D scene understanding, e.g., point cloud semantic and instance segmentation, often requires large-scale annotated training data, but clearly, point-wise labels are too tedious to prepare. While some recent methods propose to train a 3D…

3D point cloud semantic segmentation has a wide range of applications. Recently, weakly supervised point cloud segmentation methods have been proposed, aiming to alleviate the expensive and laborious manual annotation process by leveraging…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

The significant effort required to annotate data for new training datasets hinders computer vision research and machine learning in the construction industry. This work explores adapting standard datasets and the latest transformer model…

Unsupervised domain adaptation (DA) with the aid of pseudo labeling techniques has emerged as a crucial approach for domain-adaptive 3D object detection. While effective, existing DA methods suffer from a substantial drop in performance…

The performance of existing point cloud-based 3D object detection methods heavily relies on large-scale high-quality 3D annotations. However, such annotations are often tedious and expensive to collect. Semi-supervised learning is a good…

Weakly supervised semantic segmentation is receiving great attention due to its low human annotation cost. In this paper, we aim to tackle bounding box supervised semantic segmentation, i.e., training accurate semantic segmentation models…

Learning to build 3D scene graphs is essential for real-world perception in a structured and rich fashion. However, previous 3D scene graph generation methods utilize a fully supervised learning manner and require a large amount of…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

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…

The ability to understand visual information from limited labeled data is an important aspect of machine learning. While image-level classification has been extensively studied in a semi-supervised setting, dense pixel-level classification…

Driven by the growing need for Oriented Object Detection (OOD), learning from point annotations under a weakly-supervised framework has emerged as a promising alternative to costly and laborious manual labeling. In this paper, we discuss…

The success of supervised learning requires large-scale ground truth labels which are very expensive, time-consuming, or may need special skills to annotate. To address this issue, many self- or un-supervised methods are developed. Unlike…

We present SeRP, a framework for Self-Supervised Learning of 3D point clouds. SeRP consists of encoder-decoder architecture that takes perturbed or corrupted point clouds as inputs and aims to reconstruct the original point cloud without…

We study the problem of efficient semantic segmentation of large-scale 3D point clouds. By relying on expensive sampling techniques or computationally heavy pre/post-processing steps, most existing approaches are only able to be trained and…

Dense 3D visual mapping estimates as many as possible pixel depths, for each image. This results in very dense point clouds that often contain redundant and noisy information, especially for surfaces that are roughly planar, for instance,…

Deep learning techniques have become the to-go models for most vision-related tasks on 2D images. However, their power has not been fully realised on several tasks in 3D space, e.g., 3D scene understanding. In this work, we jointly address…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…