相关论文: APPT : Asymmetric Parallel Point Transformer for 3…

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention, but ignore their content and fail to establish relationships…

Pre-trained large-scale models have exhibited remarkable efficacy in computer vision, particularly for 2D image analysis. However, when it comes to 3D point clouds, the constrained accessibility of data, in contrast to the vast repositories…

Previous studies have demonstrated the effectiveness of point-based neural models on the point cloud analysis task. However, there remains a crucial issue on producing the efficient input embedding for raw point coordinates. Moreover,…

In this paper, we propose Attention Based Decomposition Network (ABD-Net), for point cloud decomposition into basic geometric shapes namely, plane, sphere, cone and cylinder. We show improved performance of 3D object classification using…

The irregular domain and lack of ordering make it challenging to design deep neural networks for point cloud processing. This paper presents a novel framework named Point Cloud Transformer(PCT) for point cloud learning. PCT is based on…

Recently, graph-based and Transformer-based deep learning networks have demonstrated excellent performances on various point cloud tasks. Most of the existing graph methods are based on static graph, which take a fixed input to establish…

Discovering inter-point connection for efficient high-dimensional feature extraction from point coordinate is a key challenge in processing point cloud. Most existing methods focus on designing efficient local feature extractors while…

In autonomous driving, 3D object detection based on multi-modal data has become an indispensable approach when facing complex environments around the vehicle. During multi-modal detection, LiDAR and camera are simultaneously applied for…

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…

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…

Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…

Place recognition plays an essential role in the field of autonomous driving and robot navigation. Point cloud based methods mainly focus on extracting global descriptors from local features of point clouds. Despite having achieved…

Exploiting fine-grained semantic features on point cloud is still challenging due to its irregular and sparse structure in a non-Euclidean space. Among existing studies, PointNet provides an efficient and promising approach to learn shape…

3D point cloud-based place recognition is highly demanded by autonomous driving in GPS-challenged environments and serves as an essential component (i.e. loop-closure detection) in lidar-based SLAM systems. This paper proposes a novel…

Recent Transformer-based methods have achieved advanced performance in point cloud registration by utilizing advantages of the Transformer in order-invariance and modeling dependency to aggregate information. However, they still suffer from…

How to learn long-range dependencies from 3D point clouds is a challenging problem in 3D point cloud analysis. Addressing this problem, we propose a global attention network for point cloud semantic segmentation, named as GA-Net, consisting…

In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in the current search point cloud given a template point cloud. Motivated by the success of transformers, we propose Point Tracking…

In this paper, we present Position-to-Structure Attention Transformers (PS-Former), a Transformer-based algorithm for 3D point cloud recognition. PS-Former deals with the challenge in 3D point cloud representation where points are not…

We present PPFNet - Point Pair Feature NETwork for deeply learning a globally informed 3D local feature descriptor to find correspondences in unorganized point clouds. PPFNet learns local descriptors on pure geometry and is highly aware of…

Recent advances in deep learning for 3D point clouds have shown great promises in scene understanding tasks thanks to the introduction of convolution operators to consume 3D point clouds directly in a neural network. Point cloud data,…