相关论文: From Semi-supervised to Omni-supervised Room Layou…

In this paper we explore the recent topic of point cloud completion, guided by an auxiliary image. We show how it is possible to effectively combine the information from the two modalities in a localized latent space, thus avoiding the need…

The performance of existing point cloud-based 3D object detection methods heavily relies on large-scale high-quality 3D annotations. However, such annotations are often tedious and expensive to collect. Semi-supervised learning is a good…

Based on the Manhattan World assumption, most existing indoor layout estimation schemes focus on recovering layouts from vertically compressed 1D sequences. However, the compression procedure confuses the semantics of different planes,…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

The development of highly accurate deep learning methods for indoor localization is often hindered by the unavailability of sufficient data measurements in the desired environment to perform model training. To overcome the challenge of…

In this paper, we delve into two key techniques in Semi-Supervised Object Detection (SSOD), namely pseudo labeling and consistency training. We observe that these two techniques currently neglect some important properties of object…

Current 3D object detection methods heavily rely on an enormous amount of annotations. Semi-supervised learning can be used to alleviate this issue. Previous semi-supervised 3D object detection methods directly follow the practice of…

Point clouds provide intrinsic geometric information and surface context for scene understanding. Existing methods for point cloud segmentation require a large amount of fully labeled data. Using advanced depth sensors, collection of large…

Supervised operator learning is an emerging machine learning paradigm with applications to modeling the evolution of spatio-temporal dynamical systems and approximating general black-box relationships between functional data. We propose a…

3D single object tracking (SOT) is an indispensable part of automated driving. Existing approaches rely heavily on large, densely labeled datasets. However, annotating point clouds is both costly and time-consuming. Inspired by the great…

This work presents a novel method for fitting superquadrics to point clouds under the contamination of noise and outliers, which has many applications for shape modeling across diverse fields. Unlike prior approaches that either exclusively…

In perception, multiple sensory information is integrated to map visual information from 2D views onto 3D objects, which is beneficial for understanding in 3D environments. But in terms of a single 2D view rendered from different angles,…

One of the primary challenges in Semi-supervised Domain Adaptation (SSDA) is the skewed ratio between the number of labeled source and target samples, causing the model to be biased towards the source domain. Recent works in SSDA show that…

Semi-supervised pose estimation is a practically challenging task for computer vision. Although numerous excellent semi-supervised classification methods have emerged, these methods typically use confidence to evaluate the quality of…

The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…

Layout estimation and 3D object detection are two fundamental tasks in indoor scene understanding. When combined, they enable the creation of a compact yet semantically rich spatial representation of a scene. Existing approaches typically…

Nowadays, with the advance of technology, there is an increasing amount of unstructured data being generated every day. However, it is a painful job to label and organize it. Labeling is an expensive, time-consuming, and difficult task. It…

Point cloud quality assessment (PCQA) has become an appealing research field in recent days. Considering the importance of saliency detection in quality assessment, we propose an effective full-reference PCQA metric which makes the first…

Semi-supervised learning has become a dominant paradigm for reducing annotation costs. However, we argue that the current progress is clouded by a twofold overconfidence problem. Algorithmically, mainstream pseudo-labeling frameworks often…

Recent advancements in self-supervised learning in the point cloud domain have demonstrated significant potential. However, these methods often suffer from drawbacks, including lengthy pre-training time, the necessity of reconstruction in…