相关论文: ALSO: Automotive Lidar Self-supervision by Occupan…

Learning 3D scene geometry and semantics from images is a core challenge in computer vision and a key capability for autonomous driving. Since large-scale 3D annotation is prohibitively expensive, recent work explores self-supervised…

Arguably one of the top success stories of deep learning is transfer learning. The finding that pre-training a network on a rich source set (eg., ImageNet) can help boost performance once fine-tuned on a usually much smaller target set, has…

Deep learning perception models require a massive amount of labeled training data to achieve good performance. While unlabeled data is easy to acquire, the cost of labeling is prohibitive and could create a tremendous burden on companies or…

LiDAR is widely used to capture accurate 3D outdoor scene structures. However, LiDAR produces many undesirable noise points in snowy weather, which hamper analyzing meaningful 3D scene structures. Semantic segmentation with snow labels…

Popular representation learning methods encourage feature invariance under transformations applied at the input. However, in 3D perception tasks like object localization and segmentation, outputs are naturally equivariant to some…

In computer-aided design (CAD) community, the point cloud data is pervasively applied in reverse engineering, where the point cloud analysis plays an important role. While a large number of supervised learning methods have been proposed to…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

Unsupervised representation learning aims at finding methods that learn representations from data without annotation-based signals. Abstaining from annotations not only leads to economic benefits but may - and to some extent already does -…

In this work, we propose to learn local descriptors for point clouds in a self-supervised manner. In each iteration of the training, the input of the network is merely one unlabeled point cloud. On top of our previous work, that directly…

Self-supervised learning has emerged as a powerful tool for pretraining deep networks on unlabeled data, prior to transfer learning of target tasks with limited annotation. The relevance between the pretraining pretext and target tasks is…

In this work, we introduce a self-supervised feature representation learning framework DreamTeacher that utilizes generative networks for pre-training downstream image backbones. We propose to distill knowledge from a trained generative…

We consider the use of deep learning for covariance estimation. We propose to globally learn a neural network that will then be applied locally at inference time. Leveraging recent advancements in self-supervised foundational models, we…

The unsupervised pretraining of object detectors has recently become a key component of object detector training, as it leads to improved performance and faster convergence during the supervised fine-tuning stage. Existing unsupervised…

Self-training is a simple semi-supervised learning approach: Unlabelled examples that attract high-confidence predictions are labelled with their predictions and added to the training set, with this process being repeated multiple times.…

We develop a novel learning scheme named Self-Prediction for 3D instance and semantic segmentation of point clouds. Distinct from most existing methods that focus on designing convolutional operators, our method designs a new learning…

Self-supervision is one of the hallmarks of representation learning in the increasingly popular suite of foundation models including large language models such as BERT and GPT-3, but it has not been pursued in the context of multivariate…

Implicit function based surface reconstruction has been studied for a long time to recover 3D shapes from point clouds sampled from surfaces. Recently, Signed Distance Functions (SDFs) and Occupany Functions are adopted in learning-based…

In this work, we study different approaches to self-supervised pretraining of object detection models. We first design a general framework to learn a spatially consistent dense representation from an image, by randomly sampling and…

The increased availability of massive point clouds coupled with their utility in a wide variety of applications such as robotics, shape synthesis, and self-driving cars has attracted increased attention from both industry and academia.…

Self-supervised learning methods have witnessed a recent surge of interest after proving successful in multiple application fields. In this work, we leverage these techniques, and we propose 3D versions for five different self-supervised…