相关论文: GAM : Gradient Attention Module of Optimization fo…

Since the point cloud data is inherently irregular and unstructured, point cloud semantic segmentation has always been a challenging task. The graph-based method attempts to model the irregular point cloud by representing it as a graph;…

We propose a new attention mechanism, called Global Hierarchical Attention (GHA), for 3D point cloud analysis. GHA approximates the regular global dot-product attention via a series of coarsening and interpolation operations over multiple…

3D point cloud neural networks have significantly enhanced the perceptual capabilities of resource-limited mobile intelligent systems. However, despite the transformative impact, the point cloud algorithm suffers from substantial memory…

Airborne Laser Scanning (ALS) point clouds have complex structures, and their 3D semantic labeling has been a challenging task. It has three problems: (1) the difficulty of classifying point clouds around boundaries of objects from…

Point cloud registration sits at the core of many important and challenging 3D perception problems including autonomous navigation, SLAM, object/scene recognition, and augmented reality. In this paper, we present a new registration…

Matching 3D rigid point clouds in complex environments robustly and accurately is still a core technique used in many applications. This paper proposes a new architecture combining error estimation from sample covariances and dual global…

Domain Adaptation (DA) approaches achieved significant improvements in a wide range of machine learning and computer vision tasks (i.e., classification, detection, and segmentation). However, as far as we are aware, there are few methods…

Point cloud salient object detection has attracted the attention of researchers in recent years. Since existing works do not fully utilize the geometry context of 3D objects, blurry boundaries are generated when segmenting objects with…

This paper focuses on the construction of stronger local features and the effective fusion of image and LiDAR data. We adopt different modalities of LiDAR data to generate richer features and present an adaptive and azimuth-aware network to…

We propose the GraphSIM -- an objective metric to accurately predict the subjective quality of point cloud with superimposed geometry and color impairments. Motivated by the facts that human vision system is more sensitive to the high…

Self-supervised depth estimation has evolved into an image reconstruction task that minimizes a photometric loss. While recent methods have made strides in indoor depth estimation, they often produce inconsistent depth estimation in…

We present a novel attention-based mechanism to learn enhanced point features for point cloud processing tasks, e.g., classification and segmentation. Unlike prior works, which were trained to optimize the weights of a pre-selected set of…

In this work, we address the challenge of affordance detection in 3D point clouds, a task that requires effectively capturing fine-grained alignments between point clouds and text. Existing methods often struggle to model such alignments,…

Point clouds data, as one kind of representation of 3D objects, are the most primitive output obtained by 3D sensors. Unlike 2D images, point clouds are disordered and unstructured. Hence it is not straightforward to apply classification…

Camera, LiDAR and radar are common perception sensors for autonomous driving tasks. Robust prediction of 3D object detection is optimally based on the fusion of these sensors. To exploit their abilities wisely remains a challenge because…

The generalization performance of deep neural networks (DNNs) is a critical factor in achieving robust model behavior on unseen data. Recent studies have highlighted the importance of sharpness-based measures in promoting generalization by…

The difficulty of the fine-grained image classification mainly comes from a shared overall appearance across classes. Thus, recognizing discriminative details, such as eyes and beaks for birds, is a key in the task. However, this is…

Zero-shot 3D point cloud understanding can be achieved via 2D Vision-Language Models (VLMs). Existing strategies directly map Vision-Language Models from 2D pixels of rendered or captured views to 3D points, overlooking the inherent and…

Object detection through either RGB images or the LiDAR point clouds has been extensively explored in autonomous driving. However, it remains challenging to make these two data sources complementary and beneficial to each other. In this…

Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In…