相关论文: Masked Scene Contrast: A Scalable Framework for Un…

Self-supervised representation learning is a critical problem in computer vision, as it provides a way to pretrain feature extractors on large unlabeled datasets that can be used as an initialization for more efficient and effective…

An effective pre-training framework with universal 3D representations is extremely desired in perceiving large-scale dynamic scenes. However, establishing such an ideal framework that is both task-generic and label-efficient poses a…

Contrastive self-supervised learning has outperformed supervised pretraining on many downstream tasks like segmentation and object detection. However, current methods are still primarily applied to curated datasets like ImageNet. In this…

We introduce Contrastive Gaussian Clustering, a novel approach capable of provide segmentation masks from any viewpoint and of enabling 3D segmentation of the scene. Recent works in novel-view synthesis have shown how to model the…

Being able to learn dense semantic representations of images without supervision is an important problem in computer vision. However, despite its significance, this problem remains rather unexplored, with a few exceptions that considered…

Pre-training has become a standard paradigm in many computer vision tasks. However, most of the methods are generally designed on the RGB image domain. Due to the discrepancy between the two-dimensional image plane and the three-dimensional…

This study introduces an efficacious approach, Masked Collaborative Contrast (MCC), to highlight semantic regions in weakly supervised semantic segmentation. MCC adroitly draws inspiration from masked image modeling and contrastive learning…

The rapid progress in 3D scene understanding has come with growing demand for data; however, collecting and annotating 3D scenes (e.g. point clouds) are notoriously hard. For example, the number of scenes (e.g. indoor rooms) that can be…

Open-vocabulary 3D scene understanding is pivotal for enhancing physical intelligence, as it enables embodied agents to interpret and interact dynamically within real-world environments. This paper introduces MPEC, a novel Masked…

Contrastive learning (CL) for Vision Transformers (ViTs) in image domains has achieved performance comparable to CL for traditional convolutional backbones. However, in 3D point cloud pretraining with ViTs, masked autoencoder (MAE) modeling…

Masked Modeling (MM) has demonstrated widespread success in various vision challenges, by reconstructing masked visual patches. Yet, applying MM for large-scale 3D scenes remains an open problem due to the data sparsity and scene…

Accurately detecting objects in the environment is a key challenge for autonomous vehicles. However, obtaining annotated data for detection is expensive and time-consuming. We introduce PatchContrast, a novel self-supervised point cloud…

Leveraging pre-trained 2D image representations in behavior cloning policies has achieved great success and has become a standard approach for robotic manipulation. However, such representations fail to capture the 3D spatial information…

Unsupervised Multi-View Stereo (MVS) methods have achieved promising progress recently. However, previous methods primarily depend on the photometric consistency assumption, which may suffer from two limitations: indistinguishable regions…

A steady momentum of innovations and breakthroughs has convincingly pushed the limits of unsupervised image representation learning. Compared to static 2D images, video has one more dimension (time). The inherent supervision existing in…

Contrastive learning has recently demonstrated great potential for unsupervised pre-training in 3D scene understanding tasks. However, most existing work randomly selects point features as anchors while building contrast, leading to a clear…

This work considers supervised contrastive learning for semantic segmentation. We apply contrastive learning to enhance the discriminative power of the multi-scale features extracted by semantic segmentation networks. Our key methodological…

3D instance segmentation is fundamental to geometric understanding of the world around us. Existing methods for instance segmentation of 3D scenes rely on supervision from expensive, manual 3D annotations. We propose UnScene3D, the first…

Self-supervised representation learning has shown significant improvement in Natural Language Processing and 2D Computer Vision. However, existing methods face difficulties in representing 3D data because of its unordered and uneven…

Instance-level contrastive learning techniques, which rely on data augmentation and a contrastive loss function, have found great success in the domain of visual representation learning. They are not suitable for exploiting the rich…