相关论文: Point Transformer V2: Grouped Vector Attention and…

Modern neural architectures for 3D point cloud processing contain both convolutional layers and attention blocks, but the best way to assemble them remains unclear. We analyse the role of different computational blocks in 3D point cloud…

Point clouds obtained from capture devices or 3D reconstruction techniques are often noisy and interfere with downstream tasks. The paper aims to recover the underlying surface of noisy point clouds. We design a novel model, NoiseTrans,…

3D point cloud interpretation is a challenging task due to the randomness and sparsity of the component points. Many of the recently proposed methods like PointNet and PointCNN have been focusing on learning shape descriptions from point…

Environment perception including detection, classification, tracking, and motion prediction are key enablers for automated driving systems and intelligent transportation applications. Fueled by the advances in sensing technologies and…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

Transformer architecture has been showing its great strength in visual object tracking, for its effective attention mechanism. Existing transformer-based approaches adopt the pixel-to-pixel attention strategy on flattened image features and…

Current data-driven methodologies for point cloud matching demand extensive training time and computational resources, presenting significant challenges for model deployment and application. In the point cloud matching task, recent…

We present a Multimodal Interlaced Transformer (MIT) that jointly considers 2D and 3D data for weakly supervised point cloud segmentation. Research studies have shown that 2D and 3D features are complementary for point cloud segmentation.…

Instance segmentation is an important task for scene understanding. Compared to the fully-developed 2D, 3D instance segmentation for point clouds have much room to improve. In this paper, we present PointGroup, a new end-to-end bottom-up…

Point Transformers are near state-of-the-art models for classification, segmentation, and detection tasks on Point Cloud data. They utilize a self attention based mechanism to model large range spatial dependencies between multiple point…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

Transformers are built upon multi-head scaled dot-product attention and positional encoding, which aim to learn the feature representations and token dependencies. In this work, we focus on enhancing the distinctive representation by…

3D object recognition has attracted wide research attention in the field of multimedia and computer vision. With the recent proliferation of deep learning, various deep models with different representations have achieved the…

Recently, a growing number of work design unsupervised paradigms for point cloud processing to alleviate the limitation of expensive manual annotation and poor transferability of supervised methods. Among them, CrossPoint follows the…

Transformer-based networks have achieved impressive performance in 3D point cloud understanding. However, most of them concentrate on aggregating local features, but neglect to directly model global dependencies, which results in a limited…

While Transformers have achieved impressive success in natural language processing and computer vision, their performance on 3D point clouds is relatively poor. This is mainly due to the limitation of Transformers: a demanding need for…

In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in the current search point cloud given a template point cloud. Motivated by the success of transformers, we propose Point Tracking…

We propose octree-based transformers, named OctFormer, for 3D point cloud learning. OctFormer can not only serve as a general and effective backbone for 3D point cloud segmentation and object detection but also have linear complexity and is…

The integration of point and voxel representations is becoming more common in LiDAR-based 3D object detection. However, this combination often struggles with capturing semantic information effectively. Moreover, relying solely on point…