相关论文: E2PN: Efficient SE(3)-Equivariant Point Network

Adapting deep learning networks for point cloud data recognition in self-driving vehicles faces challenges due to the variability in datasets and sensor technologies, emphasizing the need for adaptive techniques to maintain accuracy across…

3D Convolutional Neural Networks are sensitive to transformations applied to their input. This is a problem because a voxelized version of a 3D object, and its rotated clone, will look unrelated to each other after passing through to the…

In order to achieve better performance for point cloud analysis, many researchers apply deeper neural networks using stacked Multi-Layer-Perceptron (MLP) convolutions over irregular point cloud. However, applying dense MLP convolutions over…

Exploring contextual information in the local region is important for shape understanding and analysis. Existing studies often employ hand-crafted or explicit ways to encode contextual information of local regions. However, it is hard to…

We propose a framework for rotation and translation covariant deep learning using $SE(2)$ group convolutions. The group product of the special Euclidean motion group $SE(2)$ describes how a concatenation of two roto-translations results in…

Point cloud, an efficient 3D object representation, has become popular with the development of depth sensing and 3D laser scanning techniques. It has attracted attention in various applications such as 3D tele-presence, navigation for…

Equivariant models have recently been shown to improve the data efficiency of diffusion policy by a significant margin. However, prior work that explored this direction focused primarily on point cloud inputs generated by multiple cameras…

In this paper, we are concerned with rotation equivariance on 2D point cloud data. We describe a particular set of functions able to approximate any continuous rotation equivariant and permutation invariant function. Based on this result,…

The usage of 3D vision algorithms, such as shape reconstruction, remains limited because they require inputs to be at a fixed canonical rotation. Recently, a simple equivariant network, Vector Neuron (VN) has been proposed that can be…

Incomplete point clouds captured by 3D sensors often result in the loss of both geometric and semantic information. Most existing point cloud completion methods are built on rotation-variant frameworks trained with data in canonical poses,…

Spherical convolutional networks have been introduced recently as tools to learn powerful feature representations of 3D shapes. Spherical CNNs are equivariant to 3D rotations making them ideally suited to applications where 3D data may be…

State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…

In recent years, there has been a significant increase in the utilization of deep learning methods, particularly convolutional neural networks (CNNs), which have emerged as the dominant approach in various domains that involve structured…

We introduce Point-LN, a novel lightweight framework engineered for efficient 3D point cloud classification. Point-LN integrates essential non-parametric components-such as Farthest Point Sampling (FPS), k-Nearest Neighbors (k-NN), and…

Spherical equivariant graph neural networks (EGNNs) provide a principled framework for learning on three-dimensional molecular and biomolecular systems, where predictions must respect the rotational symmetries inherent in physics. These…

Point clouds are a very efficient way to represent volumetric data in medical imaging. First, they do not occupy resources for empty spaces and therefore can avoid trade-offs between resolution and field-of-view for voxel-based 3D…

Self-supervised learning has not been fully explored for point cloud analysis. Current frameworks are mainly based on point cloud reconstruction. Given only 3D coordinates, such approaches tend to learn local geometric structures and…

Existing convolutional learning methods for 3D point cloud data are divided into two paradigms: point-based methods that preserve geometric precision but often face performance challenges, and voxel-based methods that achieve high…

As $SE(3)$-equivariant graph neural networks mature as a core tool for 3D atomistic modeling, improving their efficiency, expressivity, and physical consistency has become a central challenge for large-scale applications. In this work, we…

Learning about the three-dimensional world from two-dimensional images is a fundamental problem in computer vision. An ideal neural network architecture for such tasks would leverage the fact that objects can be rotated and translated in…