相关论文: Boosting 3D Point Cloud Registration by Transferri…

We propose a systematic approach for registering cross-source point clouds. The compelling need for cross-source point cloud registration is motivated by the rapid development of a variety of 3D sensing techniques, but many existing…

The paper presents a learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Existing methods, such as PointNetVLAD, are based on unordered point cloud representation. They use PointNet…

3D point cloud semantic segmentation is one of the fundamental tasks for 3D scene understanding and has been widely used in the metaverse applications. Many recent 3D semantic segmentation methods learn a single prototype (classifier…

3D object detection has achieved remarkable progress by taking point clouds as the only input. However, point clouds often suffer from incomplete geometric structures and the lack of semantic information, which makes detectors hard to…

Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…

Point cloud registration is a common step in many 3D computer vision tasks such as object pose estimation, where a 3D model is aligned to an observation. Classical registration methods generalize well to novel domains but fail when given a…

In this paper, we propose the 3DFeat-Net which learns both 3D feature detector and descriptor for point cloud matching using weak supervision. Unlike many existing works, we do not require manual annotation of matching point clusters.…

Recent investigations on rotation invariance for 3D point clouds have been devoted to devising rotation-invariant feature descriptors or learning canonical spaces where objects are semantically aligned. Examinations of learning frameworks…

3D instance segmentation aims to predict a set of object instances in a scene, representing them as binary foreground masks with corresponding semantic labels. Currently, transformer-based methods are gaining increasing attention due to…

The remarkable breakthroughs in point cloud representation learning have boosted their usage in real-world applications such as self-driving cars and virtual reality. However, these applications usually have an urgent requirement for not…

Point cloud registration has seen significant advancements with the application of deep learning techniques. However, existing approaches often overlook the potential of integrating radiometric information from RGB images. This limitation…

3D perception in LiDAR point clouds is crucial for a self-driving vehicle to properly act in 3D environment. However, manually labeling point clouds is hard and costly. There has been a growing interest in self-supervised pre-training of 3D…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

Data augmentation is an effective regularization strategy for mitigating overfitting in deep neural networks, and it plays a crucial role in 3D vision tasks, where the point cloud data is relatively limited. While mixing-based augmentation…

With the overwhelming trend of mask image modeling led by MAE, generative pre-training has shown a remarkable potential to boost the performance of fundamental models in 2D vision. However, in 3D vision, the over-reliance on…

In the field of autonomous driving, a variety of sensor data types exist, each representing different modalities of the same scene. Therefore, it is feasible to utilize data from other sensors to facilitate image compression. However, few…

Point cloud registration is a foundational task for 3D alignment and reconstruction applications. While both traditional and learning-based registration approaches have succeeded, leveraging the intrinsic symmetry of point cloud data,…

Data association is important in the point cloud registration. In this work, we propose to solve the partial-to-partial registration from a new perspective, by introducing multi-level feature interactions between the source and the…

Unsupervised domain adaptation for LiDAR-based 3D object detection (3D UDA) based on the teacher-student architecture with pseudo labels has achieved notable improvements in recent years. Although it is quite popular to collect point clouds…

There is a trend to fuse multi-modal information for 3D object detection (3OD). However, the challenging problems of low lightweightness, poor flexibility of plug-and-play, and inaccurate alignment of features are still not well-solved,…