相关论文: Learning 3D Semantics from Pose-Noisy 2D Images wi…

This dissertation addresses visual scene understanding and enhances segmentation performance and generalization, training efficiency of networks, and holistic understanding. First, we investigate semantic segmentation in the context of…

3D semantic segmentation is one of the most crucial tasks in driving perception. The ability of a learning-based model to accurately perceive dense 3D surroundings often ensures the safe operation of autonomous vehicles. However, existing…

Point cloud completion referring to completing 3D shapes from partial 3D point clouds is a fundamental problem for 3D point cloud analysis tasks. Benefiting from the development of deep neural networks, researches on point cloud completion…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

The task of Novel Class Discovery (NCD) in semantic segmentation entails training a model able to accurately segment unlabelled (novel) classes, relying on the available supervision from annotated (base) classes. Although extensively…

Learning signed distance functions (SDFs) from point clouds is an important task in 3D computer vision. However, without ground truth signed distances, point normals or clean point clouds, current methods still struggle from learning SDFs…

We study the problem of efficient semantic segmentation for 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…

Despite the success of convolution- and attention-based models in vision tasks, their rigid receptive fields and complex architectures limit their ability to model irregular spatial patterns and hinder interpretability, therefore posing…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

3D pose estimation is a challenging problem in computer vision. Most of the existing neural-network-based approaches address color or depth images through convolution networks (CNNs). In this paper, we study the task of 3D human pose…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

2D image representations are in regular grids and can be processed efficiently, whereas 3D point clouds are unordered and scattered in 3D space. The information inside these two visual domains is well complementary, e.g., 2D images have…

Semantic segmentation of 3D point cloud data is essential for enhanced high-level perception in autonomous platforms. Furthermore, given the increasing deployment of LiDAR sensors onboard of cars and drones, a special emphasis is also…

Contemporary point cloud segmentation approaches largely rely on richly annotated 3D training data. However, it is both time-consuming and challenging to obtain consistently accurate annotations for such 3D scene data. Moreover, there is…

This paper proposes a Graph Neural Network(GNN)-based method for exploiting semantics and local geometry to guide the identification of reliable pointcloud registration candidates. Semantic and morphological features of the environment…

Feature matching is a fundamental problem in computer vision with wide-ranging applications, including simultaneous localization and mapping (SLAM), image stitching, and 3D reconstruction. While recent advances in deep learning have…

Learning local descriptors is an important problem in computer vision. While there are many techniques for learning local patch descriptors for 2D images, recently efforts have been made for learning local descriptors for 3D points. The…

With the proliferation of Lidar sensors and 3D vision cameras, 3D point cloud analysis has attracted significant attention in recent years. After the success of the pioneer work PointNet, deep learning-based methods have been increasingly…

User generated 3D shapes in online repositories contain rich information about surfaces, primitives, and their geometric relations, often arranged in a hierarchy. We present a framework for learning representations of 3D shapes that reflect…

Features that are equivariant to a larger group of symmetries have been shown to be more discriminative and powerful in recent studies. However, higher-order equivariant features often come with an exponentially-growing computational cost.…