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

3D single object tracking is a key task in 3D computer vision. However, the sparsity of point clouds makes it difficult to compute the similarity and locate the object, posing big challenges to the 3D tracker. Previous works tried to solve…

With the rapid progress of deep convolutional neural networks, in almost all robotic applications, the availability of 3D point clouds improves the accuracy of 3D semantic segmentation methods. Rendering of these irregular, unstructured,…

Understanding point cloud has recently gained huge interests following the development of 3D scanning devices and the accumulation of large-scale 3D data. Most point cloud processing algorithms can be classified as either point-based or…

Recently, the self-supervised learning framework data2vec has shown inspiring performance for various modalities using a masked student-teacher approach. However, it remains open whether such a framework generalizes to the unique challenges…

The point cloud is gaining prominence as a method for representing 3D shapes, but its irregular format poses a challenge for deep learning methods. The common solution of transforming the data into a 3D voxel grid introduces its own…

We rethink the role of positional encoding in 3D representation learning and fine-tuning. We argue that using positional encoding in point Transformer-based methods serves to aggregate multi-scale features of point clouds. Additionally, we…

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…

To apply transformer-based models to point cloud understanding, many previous works modify the architecture of transformers by using, e.g., local attention and down-sampling. Although they have achieved promising results, earlier works on…

Recently, there has been a significant interest in performing convolution over irregularly sampled point clouds. Since point clouds are very different from regular raster images, it is imperative to study the generalization of the…

We propose a novel approach aimed at object and semantic scene completion from a partial scan represented as a 3D point cloud. Our architecture relies on three novel layers that are used successively within an encoder-decoder structure and…

Visual place recognition is a challenging task for applications such as autonomous driving navigation and mobile robot localization. Distracting elements presenting in complex scenes often lead to deviations in the perception of visual…

The annotation of 3D datasets is required for semantic-segmentation and object detection in scene understanding. In this paper we present a framework for the weakly supervision of a point clouds transformer that is used for 3D object…

In this work, we present Point Transformer, a deep neural network that operates directly on unordered and unstructured point sets. We design Point Transformer to extract local and global features and relate both representations by…

Learning discriminative shape representation directly on point clouds is still challenging in 3D shape analysis and understanding. Recent studies usually involve three steps: first splitting a point cloud into some local regions, then…

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.…

Many machine learning tasks such as multiple instance learning, 3D shape recognition, and few-shot image classification are defined on sets of instances. Since solutions to such problems do not depend on the order of elements of the set,…

This paper presents a novel Fully Binary Point Cloud Transformer (FBPT) model which has the potential to be widely applied and expanded in the fields of robotics and mobile devices. By compressing the weights and activations of a 32-bit…

In recent years, 2D human pose estimation has made significant progress on public benchmarks. However, many of these approaches face challenges of less applicability in the industrial community due to the large number of parametric…

3D vision with real-time LiDAR-based point cloud data became a vital part of autonomous system research, especially perception and prediction modules use for object classification, segmentation, and detection. Despite their success, point…

Grouping has been commonly used in deep metric learning for computing diverse features. However, current methods are prone to overfitting and lack interpretability. In this work, we propose an improved and interpretable grouping method to…