相关论文: Spatial Pruned Sparse Convolution for Efficient 3D…

Recently, virtual/pseudo-point-based 3D object detection that seamlessly fuses RGB images and LiDAR data by depth completion has gained great attention. However, virtual points generated from an image are very dense, introducing a huge…

Convolutional network are the de-facto standard for analysing spatio-temporal data such as images, videos, 3D shapes, etc. Whilst some of this data is naturally dense (for instance, photos), many other data sources are inherently sparse.…

Convolutional neural networks (CNNs) are inherently suffering from massively redundant computation (FLOPs) due to the dense connection pattern between feature maps and convolution kernels. Recent research has investigated the sparse…

The high demand for computational and storage resources severely impede the deployment of deep convolutional neural networks (CNNs) in limited-resource devices. Recent CNN architectures have proposed reduced complexity versions (e.g.…

Convolutional Neural Networks (CNNs) have emerged as a fundamental technology for machine learning. High performance and extreme energy efficiency are critical for deployments of CNNs in a wide range of situations, especially mobile…

Detection and tracking of moving objects is an essential component in environmental perception for autonomous driving. In the flourishing field of multi-view 3D camera-based detectors, different transformer-based pipelines are designed to…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…

We propose a novel scene flow estimation approach to capture and infer 3D motions from point clouds. Estimating 3D motions for point clouds is challenging, since a point cloud is unordered and its density is significantly non-uniform. Such…

Recent studies have witnessed the effectiveness of 3D convolutions on segmenting volumetric medical images. Compared with the 2D counterparts, 3D convolutions can capture the spatial context in three dimensions. Nevertheless, models…

3D Gaussian Splatting (3DGS) has emerged as a promising approach for 3D scene representation, offering a reduction in computational overhead compared to Neural Radiance Fields (NeRF). However, 3DGS is susceptible to high-frequency artifacts…

3D spatial information is known to be beneficial to the semantic segmentation task. Most existing methods take 3D spatial data as an additional input, leading to a two-stream segmentation network that processes RGB and 3D spatial…

We present a novel approach that converts partial and noisy RGB-D scans into high-quality 3D scene reconstructions by inferring unobserved scene geometry. Our approach is fully self-supervised and can hence be trained solely on real-world,…

Recently, sparse 3D convolutions have changed 3D object detection. Performing on par with the voting-based approaches, 3D CNNs are memory-efficient and scale to large scenes better. However, there is still room for improvement. With a…

2D convolution (Conv2d), which is responsible for extracting features from the input image, is one of the key modules of a convolutional neural network (CNN). However, Conv2d is vulnerable to image corruptions and adversarial samples. It is…

Applying deep neural networks to 3D point cloud processing has attracted increasing attention due to its advanced performance in many areas, such as AR/VR, autonomous driving, and robotics. However, as neural network models and 3D point…

This paper proposes a computationally efficient approach to detecting objects natively in 3D point clouds using convolutional neural networks (CNNs). In particular, this is achieved by leveraging a feature-centric voting scheme to implement…

Autonomous systems need to process large-scale, sparse, and irregular point clouds with limited compute resources. Consequently, it is essential to develop LiDAR perception methods that are both efficient and effective. Although naively…

Deep convolutional neural networks (CNNs) are deployed in various applications but demand immense computational requirements. Pruning techniques and Winograd convolution are two typical methods to reduce the CNN computation. However, they…

Due to the over-parameterization of neural networks, many model compression methods based on pruning and quantization have emerged. They are remarkable in reducing the size, parameter number, and computational complexity of the model.…

Image convolutions have been a cornerstone of a great number of deep learning advances in computer vision. The research community is yet to settle on an equivalent operator for sparse, unstructured continuous data like point clouds and…