相关论文: Exploiting Inductive Bias in Transformer for Point…

Recently Transformer-based models have advanced point cloud understanding by leveraging self-attention mechanisms, however, these methods often overlook latent information in less prominent regions, leading to increased sensitivity to…

Transformer plays an increasingly important role in various computer vision areas and remarkable achievements have also been made in point cloud analysis. Since they mainly focus on point-wise transformer, an adaptive channel encoding…

In recent years, point cloud analysis methods based on the Transformer architecture have made significant progress, particularly in the context of multimedia applications such as 3D modeling, virtual reality, and autonomous systems.…

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…

Transformers have shown great potential in various computer vision tasks owing to their strong capability in modeling long-range dependency using the self-attention mechanism. Nevertheless, vision transformers treat an image as 1D sequence…

Given the rapid development of 3D scanners, point clouds are becoming popular in AI-driven machines. However, point cloud data is inherently sparse and irregular, causing significant difficulties for machine perception. In this work, we…

Place recognition, an algorithm to recognize the re-visited places, plays the role of back-end optimization trigger in a full SLAM system. Many works equipped with deep learning tools, such as MLP, CNN, and transformer, have achieved great…

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…

Point Transformers are near state-of-the-art models for classification, segmentation, and detection tasks on Point Cloud data. They utilize a self attention based mechanism to model large range spatial dependencies between multiple point…

Point clouds, being the simple and compact representation of surface geometry of 3D objects, have gained increasing popularity with the evolution of deep learning networks for classification and segmentation tasks. Unlike human, teaching…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Recent advancements in Diffusion Transformer (DiT) models have significantly improved 3D point cloud generation. However, existing methods primarily focus on local feature extraction while overlooking global topological information, such as…

Learning local descriptors is an important problem in computer vision. While there are many techniques for learning local patch descriptors for 2D images, recently efforts have been made for learning local descriptors for 3D points. The…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

The great success of Transformer-based models benefits from the powerful multi-head self-attention mechanism, which learns token dependencies and encodes contextual information from the input. Prior work strives to attribute model decisions…

Recently, Transformer-based methods for point cloud learning have achieved good results on various point cloud learning benchmarks. However, since the attention mechanism needs to generate three feature vectors of query, key, and value to…

Self-attention mechanism has been a key factor in the recent progress of Vision Transformer (ViT), which enables adaptive feature extraction from global contexts. However, existing self-attention methods either adopt sparse global attention…

In this work, we propose to learn local descriptors for point clouds in a self-supervised manner. In each iteration of the training, the input of the network is merely one unlabeled point cloud. On top of our previous work, that directly…

Instance segmentation in point clouds is one of the most fine-grained ways to understand the 3D scene. Due to its close relationship to semantic segmentation, many works approach these two tasks simultaneously and leverage the benefits of…

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…