相关论文: ProxyFormer: Proxy Alignment Assisted Point Cloud …

We present a Multimodal Interlaced Transformer (MIT) that jointly considers 2D and 3D data for weakly supervised point cloud segmentation. Research studies have shown that 2D and 3D features are complementary for point cloud segmentation.…

The point cloud based 3D single object tracking has drawn increasing attention. Although many breakthroughs have been achieved, we also reveal two severe issues. By extensive analysis, we find the prediction manner of current approaches is…

3D instance segmentation plays a crucial role in comprehending 3D scenes. Despite recent advancements in this field, existing approaches exhibit certain limitations. These methods often rely on fixed instance positions obtained from sampled…

Though a number of point cloud learning methods have been proposed to handle unordered points, most of them are supervised and require labels for training. By contrast, unsupervised learning of point cloud data has received much less…

We present a mask-piloted Transformer which improves masked-attention in Mask2Former for image segmentation. The improvement is based on our observation that Mask2Former suffers from inconsistent mask predictions between consecutive decoder…

Recent point-based object completion methods have demonstrated the ability to accurately recover the missing geometry of partially observed objects. However, these approaches are not well-suited for completing objects within a scene, as…

Transformers have been recently explored for 3D point cloud understanding with impressive progress achieved. A large number of points, over 0.1 million, make the global self-attention infeasible for point cloud data. Thus, most methods…

LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

Recent studies that incorporate geometric features and transformers into 3D point cloud feature learning have significantly improved the performance of 3D deep-learning models. However, their robustness against adversarial attacks has not…

Robust 3D perception under corruption has become an essential task for the realm of 3D vision. While current data augmentation techniques usually perform random transformations on all point cloud objects in an offline way and ignore the…

We present a novel neural implicit shape method for partial point cloud completion. To that end, we combine a conditional Deep-SDF architecture with learned, adversarial shape priors. More specifically, our network converts partial inputs…

Transformer-based models have significantly advanced natural language processing and computer vision in recent years. However, due to the irregular and disordered structure of point cloud data, transformer-based models for 3D deep learning…

Great progress has been made in point cloud classification with learning-based methods. However, complex scene and sensor inaccuracy in real-world application make point cloud data suffer from corruptions, such as occlusion, noise and…

We present a probabilistic model for point cloud generation, which is fundamental for various 3D vision tasks such as shape completion, upsampling, synthesis and data augmentation. Inspired by the diffusion process in non-equilibrium…

Real-world sensors often produce incomplete, irregular, and noisy point clouds, making point cloud completion increasingly important. However, most existing completion methods rely on large paired datasets for training, which is…

3D LiDAR scene completion from point clouds is a fundamental component of perception systems in autonomous vehicles. Previous methods have predominantly employed diffusion models for high-fidelity reconstruction. However, their multi-step…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Designing a point cloud upsampler, which aims to generate a clean and dense point cloud given a sparse point representation, is a fundamental and challenging problem in computer vision. A line of attempts achieves this goal by establishing…

Existing autoregressive (AR) methods for generating artist-designed meshes struggle to balance global structural consistency with high-fidelity local details, and are susceptible to error accumulation. To address this, we propose…