相关论文: Masked Surfel Prediction for Self-Supervised Point…

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…

The sensing process of large-scale LiDAR point clouds inevitably causes large blind spots, i.e. regions not visible to the sensor. We demonstrate how these inherent sampling properties can be effectively utilized for self-supervised…

Perceiving the environment via cameras is crucial for Reinforcement Learning (RL) in robotics. While images are a convenient form of representation, they often complicate extracting important geometric details, especially with varying…

Recent advances in self-supervised learning (SSL) for point clouds have substantially improved 3D scene understanding without human annotations. Existing approaches emphasize semantic awareness by enforcing feature consistency across…

The ability to predict future structure features of environments based on past perception information is extremely needed by autonomous vehicles, which helps to make the following decision-making and path planning more reasonable. Recently,…

The last years have witnessed the emergence of a promising self-supervised learning strategy, referred to as masked autoencoding. However, there is a lack of theoretical understanding of how masking matters on graph autoencoders (GAEs). In…

In recent years, self-supervised learning has attracted widespread academic debate and addressed many of the key issues of computer vision. The present research focus is on how to construct a good agent task that allows for improved network…

Self-supervised learning on point clouds has gained a lot of attention recently, since it addresses the label-efficiency and domain-gap problems on point cloud tasks. In this paper, we propose a novel self-supervised framework to learn…

We describe a simple pre-training approach for point clouds. It works in three steps: 1. Mask all points occluded in a camera view; 2. Learn an encoder-decoder model to reconstruct the occluded points; 3. Use the encoder weights as…

In recent years, we have witnessed the presence of point cloud data in many aspects of our life, from immersive media, autonomous driving to healthcare, although at the cost of a tremendous amount of data. In this paper, we present an…

Object-Centric Motion Generation (OCMG) plays a key role in a variety of industrial applications$\unicode{x2014}$such as robotic spray painting and welding$\unicode{x2014}$requiring efficient, scalable, and generalizable algorithms to plan…

Self-supervised learning (SSL) on 3D point clouds has the potential to learn feature representations that can transfer to diverse sensors and multiple downstream perception tasks. However, recent SSL approaches fail to define pretext tasks…

With the development of 3D scanning technologies, 3D vision tasks have become a popular research area. Owing to the large amount of data acquired by sensors, unsupervised learning is essential for understanding and utilizing point clouds…

Self-supervised representation learning for point cloud videos remains a challenging problem with two key limitations: (1) existing methods rely on explicit knowledge to learn motion, resulting in suboptimal representations; (2) prior…

Existing 3D mask learning methods encounter performance bottlenecks under limited data, and our objective is to overcome this limitation. In this paper, we introduce a triple point masking scheme, named TPM, which serves as a scalable…

Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…

This paper describes recent developments in object specific pose and shape prediction from single images. The main contribution is a new approach to camera pose prediction by self-supervised learning of keypoints corresponding to locations…

Current perception models in autonomous driving heavily rely on large-scale labelled 3D data, which is both costly and time-consuming to annotate. This work proposes a solution to reduce the dependence on labelled 3D training data by…

This article proposes a novel unsupervised learning framework for detecting the number of tunnel junctions in subterranean environments based on acquired 2D point clouds. The implementation of the framework provides valuable information for…

Our MATE is the first Test-Time-Training (TTT) method designed for 3D data, which makes deep networks trained for point cloud classification robust to distribution shifts occurring in test data. Like existing TTT methods from the 2D image…