相关论文: Applying Plain Transformers to Real-World Point Cl…

Remarkable performance from Transformer networks in Natural Language Processing promote the development of these models in dealing with computer vision tasks such as image recognition and segmentation. In this paper, we introduce a novel…

Deep learning techniques for point clouds have achieved strong performance on a range of 3D vision tasks. However, it is costly to annotate large-scale point sets, making it critical to learn generalizable representations that can transfer…

Recent years have witnessed the surge of learned representations that directly build upon point clouds. Though becoming increasingly expressive, most existing representations still struggle to generate ordered point sets. Inspired by…

Point cloud recognition is an essential task in industrial robotics and autonomous driving. Recently, several point cloud processing models have achieved state-of-the-art performances. However, these methods lack rotation robustness, and…

Cloud-edge collaboration enhances machine perception by combining the strengths of edge and cloud computing. Edge devices capture raw data (e.g., 3D point clouds) and extract salient features, which are sent to the cloud for deeper analysis…

3D object detection is an essential vision technique for various robotic systems, such as augmented reality and domestic robots. Transformers as versatile network architectures have recently seen great success in 3D point cloud object…

Point cloud learning has lately attracted increasing attention due to its wide applications in many areas, such as computer vision, autonomous driving, and robotics. As a dominating technique in AI, deep learning has been successfully used…

With the increased availability of 3D scanning technology, point clouds are moving into the focus of computer vision as a rich representation of everyday scenes. However, they are hard to handle for machine learning algorithms due to their…

The manifold scattering transform is a deep feature extractor for data defined on a Riemannian manifold. It is one of the first examples of extending convolutional neural network-like operators to general manifolds. The initial work on this…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

Point cloud processing and 3D shape understanding are very challenging tasks for which deep learning techniques have demonstrated great potentials. Still further progresses are essential to allow artificial intelligent agents to interact…

With the rise of large-scale models trained on broad data, in-context learning has become a new learning paradigm that has demonstrated significant potential in natural language processing and computer vision tasks. Meanwhile, in-context…

3D point cloud has been widely used in many mobile application scenarios, including autonomous driving and 3D sensing on mobile devices. However, existing 3D point cloud models tend to be large and cumbersome, making them hard to deploy on…

In many vision and robotics applications, it is common that the captured objects are represented by very few points. Most of the existing completion methods are designed for partial point clouds with many points, and they perform poorly or…

Masked point modeling methods have recently achieved great success in self-supervised learning for point cloud data. However, these methods are sensitive to rotations and often exhibit sharp performance drops when encountering rotational…

Though image transformers have shown competitive results with convolutional neural networks in computer vision tasks, lacking inductive biases such as locality still poses problems in terms of model efficiency especially for embedded…

This paper presents a parameter-efficient prompt tuning method, named PPT, to adapt a large multi-modal model for 3D point cloud understanding. Existing strategies are quite expensive in computation and storage, and depend on time-consuming…

Although accurate and fast point cloud classification is a fundamental task in 3D applications, it is difficult to achieve this purpose due to the irregularity and disorder of point clouds that make it challenging to achieve effective and…

3D scene understanding from point clouds plays a vital role for various robotic applications. Unfortunately, current state-of-the-art methods use separate neural networks for different tasks like object detection or room layout estimation.…

We present a new versatile building block for deep point cloud processing architectures that is equally suited for diverse tasks. This building block combines the ideas of spatial transformers and multi-view convolutional networks with the…