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

The aim of this paper is to study the influence of locality mechanisms in vision transformers. Transformers originated from machine translation and are particularly good at modelling long-range dependencies within a long sequence. Although…

Point cloud completion aims to reconstruct the complete 3D shape from incomplete point clouds, and it is crucial for tasks such as 3D object detection and segmentation. Despite the continuous advances in point cloud analysis techniques,…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

Common deep learning models for 3D environment perception often use pillarization/voxelization methods to convert point cloud data into pillars/voxels and then process it with a 2D/3D convolutional neural network (CNN). The pioneer work…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

Extracting robust and general 3D local features is key to downstream tasks such as point cloud registration and reconstruction. Existing learning-based local descriptors are either sensitive to rotation transformations, or rely on classical…

Place recognition or loop closure detection is one of the core components in a full SLAM system. In this paper, aiming at strengthening the relevancy of local neighboring points and the contextual dependency among global points…

Recently, directly detecting 3D objects from 3D point clouds has received increasing attention. To extract object representation from an irregular point cloud, existing methods usually take a point grouping step to assign the points to an…

Pre-trained point cloud models have found extensive applications in 3D understanding tasks like object classification and part segmentation. However, the prevailing strategy of full fine-tuning in downstream tasks leads to large per-task…

We present an approach to learning features that represent the local geometry around a point in an unstructured point cloud. Such features play a central role in geometric registration, which supports diverse applications in robotics and 3D…

With the prevalence of LiDAR sensors in autonomous driving, 3D object tracking has received increasing attention. In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in consecutive frames…

Multimodal remote sensing data, including spectral and lidar or photogrammetry, is crucial for achieving satisfactory land-use / land-cover classification results in urban scenes. So far, most studies have been conducted in a 2D context.…

Some self-supervised cross-modal learning approaches have recently demonstrated the potential of image signals for enhancing point cloud representation. However, it remains a question on how to directly model cross-modal local and global…

Transformers have become one of the dominant architectures in deep learning, particularly as a powerful alternative to convolutional neural networks (CNNs) in computer vision. However, Transformer training and inference in previous works…

Edge points on 3D point clouds can clearly convey 3D geometry and surface characteristics, therefore, edge detection is widely used in many vision applications with high industrial and commercial demands. However, the fine-grained edge…

Point cloud processing methods leverage local and global point features %at the feature level to cater to downstream tasks, yet they often overlook the task-level context inherent in point clouds during the encoding stage. We argue that…

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…

Learning intra-region contexts and inter-region relations are two effective strategies to strengthen feature representations for point cloud analysis. However, unifying the two strategies for point cloud representation is not fully…

Learning point clouds is challenging due to the lack of connectivity information, i.e., edges. Although existing edge-aware methods can improve the performance by modeling edges, how edges contribute to the improvement is unclear. In this…

Siamese network based trackers formulate 3D single object tracking as cross-correlation learning between point features of a template and a search area. Due to the large appearance variation between the template and search area during…