相关论文: Rotation-Invariant Transformer for Point Cloud Mat…

Recent studies have shown the importance of modeling long-range interactions in the inpainting problem. To achieve this goal, existing approaches exploit either standalone attention techniques or transformers, but usually under a low…

Transformer-based networks have achieved impressive performance in 3D point cloud understanding. However, most of them concentrate on aggregating local features, but neglect to directly model global dependencies, which results in a limited…

There has been a recent surge of interest in introducing transformers to 3D human pose estimation (HPE) due to their powerful capabilities in modeling long-term dependencies. However, existing transformer-based methods treat body joints as…

Rotation-invariant (RI) 3D deep learning methods suffer performance degradation as they typically design RI representations as input that lose critical global information comparing to 3D coordinates. Most state-of-the-arts address it by…

While the Transformer architecture has become ubiquitous in the machine learning field, its adaptation to 3D shape recognition is non-trivial. Due to its quadratic computational complexity, the self-attention operator quickly becomes…

The networks for point cloud tasks are expected to be invariant when the point clouds are affinely transformed such as rotation and reflection. So far, relative to the rotational invariance that has been attracting major research attention…

An open challenge in reinforcement learning (RL) is the effective deployment of a trained policy to new or slightly different situations as well as semantically-similar environments. We introduce Symmetry-Invariant Transformer (SiT), a…

We present PPF-FoldNet for unsupervised learning of 3D local descriptors on pure point cloud geometry. Based on the folding-based auto-encoding of well known point pair features, PPF-FoldNet offers many desirable properties: it necessitates…

Self-attention modules have demonstrated remarkable capabilities in capturing long-range relationships and improving the performance of point cloud tasks. However, point cloud objects are typically characterized by complex, disordered, and…

Cloud Optical Thickness (COT) is a critical cloud property influencing Earth's climate, weather, and radiation budget. Satellite radiance measurements enable global COT retrieval, but challenges like 3D cloud effects, viewing angles, and…

Point cloud registration is a fundamental task in the fields of computer vision and robotics. Recent developments in transformer-based methods have demonstrated enhanced performance in this domain. However, the standard attention mechanism…

In this paper, we present IRON (Invariant-based global Robust estimation and OptimizatioN), a non-minimal and highly robust solution for point cloud registration with a great number of outliers among the correspondences. To realize this, we…

Transformers have been seldom employed in point cloud roof plane instance segmentation, which is the focus of this study, and existing superpoint Transformers suffer from limited performance due to the use of low-quality superpoints. To…

LiDARs are widely used in autonomous robots due to their ability to provide accurate environment structural information. However, the large size of point clouds poses challenges in terms of data storage and transmission. In this paper, we…

The modeling of high-dimensional spatio-temporal processes presents a fundamental dichotomy between the probabilistic rigor of classical geostatistics and the flexible, high-capacity representations of deep learning. While Gaussian…

Rigid registration of point clouds is a fundamental problem in computer vision with many applications from 3D scene reconstruction to geometry capture and robotics. If a suitable initial registration is available, conventional methods like…

Point cloud registration is a crucial problem in computer vision and robotics. Existing methods either rely on matching local geometric features, which are sensitive to the pose differences, or leverage global shapes, which leads to…

The attention mechanism is a core primitive in modern large language models (LLMs) and AI more broadly. Since attention by itself is permutation-invariant, position encoding is essential for modeling structured domains such as language.…

Point Transformers (PoinTr) have shown great potential in point cloud completion recently. Nevertheless, effective domain adaptation that improves transferability toward target domains remains unexplored. In this paper, we delve into this…

Traditional feature matching methods such as scale-invariant feature transform (SIFT) usually use image intensity or gradient information to detect and describe feature points; however, both intensity and gradient are sensitive to nonlinear…