相关论文: Self-Supervised Image-to-Point Distillation via Se…

Segmenting or detecting objects in sparse Lidar point clouds are two important tasks in autonomous driving to allow a vehicle to act safely in its 3D environment. The best performing methods in 3D semantic segmentation or object detection…

Self-supervised 3D representation learning aims to learn effective representations from large-scale unlabeled point clouds. Most existing approaches adopt point discrimination as the pretext task, which assigns matched points in two…

Recently, contrastive learning has achieved great results in self-supervised learning, where the main idea is to push two augmentations of an image (positive pairs) closer compared to other random images (negative pairs). We argue that not…

Pre-trained on extensive and diverse multi-modal datasets, 2D foundation models excel at addressing 2D tasks with little or no downstream supervision, owing to their robust representations. The emergence of 2D-to-3D distillation frameworks…

Rapid progress in 3D semantic segmentation is inseparable from the advances of deep network models, which highly rely on large-scale annotated data for training. To address the high cost and challenges of 3D point-level labeling, we present…

Self-supervised instance discrimination is an effective contrastive pretext task to learn feature representations and address limited medical image annotations. The idea is to make features of transformed versions of the same images similar…

A prominent technique for self-supervised representation learning has been to contrast semantically similar and dissimilar pairs of samples. Without access to labels, dissimilar (negative) points are typically taken to be randomly sampled…

We propose a unified point cloud video self-supervised learning framework for object-centric and scene-centric data. Previous methods commonly conduct representation learning at the clip or frame level and cannot well capture fine-grained…

Contrastive image-to-LiDAR knowledge transfer, commonly used for learning 3D representations with synchronized images and point clouds, often faces a self-conflict dilemma. This issue arises as contrastive losses unintentionally dissociate…

Self-supervised representation learning has achieved impressive empirical success, yet its theoretical understanding remains limited. In this work, we provide a theoretical perspective by formulating self-supervised representation learning…

Self-supervised learning has achieved remarkable success in learning visual representations from clean data, yet remains challenging when clean observations are sparse or not available at all. In this paper, we demonstrate that pretrained…

Recent progress in contrastive learning has revolutionized unsupervised representation learning. Concretely, multiple views (augmentations) from the same image are encouraged to map to the similar embeddings, while views from different…

We propose a method for self-supervised image representation learning under the guidance of 3D geometric consistency. Our intuition is that 3D geometric consistency priors such as smooth regions and surface discontinuities may imply…

We pilot a family of stable contrastive losses for learning pixel-level representations that jointly capture semantic and geometric information. Our approach maps each pixel of an image to an overcomplete descriptor that is both…

3D semantic scene labeling is a fundamental task for Autonomous Driving. Recent work shows the capability of Deep Neural Networks in labeling 3D point sets provided by sensors like LiDAR, and Radar. Imbalanced distribution of classes in the…

Self-supervised representation learning has shown significant improvement in Natural Language Processing and 2D Computer Vision. However, existing methods face difficulties in representing 3D data because of its unordered and uneven…

Recently, self-supervised representation learning gives further development in multimedia technology. Most existing self-supervised learning methods are applicable to packaged data. However, when it comes to streamed data, they are…

Self-supervised representation learning is a critical problem in computer vision, as it provides a way to pretrain feature extractors on large unlabeled datasets that can be used as an initialization for more efficient and effective…

To overcome the data-hungry challenge, we have proposed a semi-supervised contrastive learning framework for the task of class-imbalanced semantic segmentation. First and foremost, to make the model operate in a semi-supervised manner, we…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…