相关论文: GeoMAE: Masked Geometric Target Prediction for Sel…

The goal of open-vocabulary detection is to identify novel objects based on arbitrary textual descriptions. In this paper, we address open-vocabulary 3D point-cloud detection by a dividing-and-conquering strategy, which involves: 1)…

As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…

Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…

Reducing the quantity of annotations required for supervised training is vital when labels are scarce and costly. This reduction is particularly important for semantic segmentation tasks involving 3D datasets, which are often significantly…

Visual imitation learning with 3D point clouds has advanced robotic manipulation by providing geometry-aware, appearance-invariant observations. However, point cloud-based policies remain highly sensitive to sensor noise, pose…

In real-world scenarios, scanned point clouds are often incomplete due to occlusion issues. The tasks of self-supervised and weakly-supervised point cloud completion involve reconstructing missing regions of these incomplete objects without…

Geometry and color information provided by the point clouds are both crucial for 3D scene understanding. Two pieces of information characterize the different aspects of point clouds, but existing methods lack an elaborate design for the…

Masked autoencoders (MAE) have become a dominant paradigm in 3D representation learning, setting new performance benchmarks across various downstream tasks. Existing methods with fixed mask ratio neglect multi-level representational…

Learning to generate 3D point clouds without 3D supervision is an important but challenging problem. Current solutions leverage various differentiable renderers to project the generated 3D point clouds onto a 2D image plane, and train deep…

While massively scaling both data and models have become central in NLP and 2D vision, their benefits for 3D point cloud understanding remain limited. We study the initial step of scaling 3D point cloud understanding under a realistic…

The increased availability of massive point clouds coupled with their utility in a wide variety of applications such as robotics, shape synthesis, and self-driving cars has attracted increased attention from both industry and academia.…

We propose Point-PNG, a novel self-supervised learning framework that generates conditional pseudo-negatives in the latent space to learn point cloud representations that are both discriminative and transformation-sensitive. Conventional…

Point cloud completion is essential for robust 3D perception in safety-critical applications such as robotics and augmented reality. However, existing models perform static inference and rely heavily on inductive biases learned during…

Recently, self-supervised Masked Autoencoders (MAE) have attracted unprecedented attention for their impressive representation learning ability. However, the pretext task, Masked Image Modeling (MIM), reconstructs the missing local patches,…

Self-supervised learning (SSL) for point cloud pre-training has become a cornerstone for many 3D vision tasks, enabling effective learning from large-scale unannotated data. At the scene level, existing SSL methods often incorporate volume…

Learning structures of 3D shapes is a fundamental problem in the field of computer graphics and geometry processing. We present a simple yet interpretable unsupervised method for learning a new structural representation in the form of 3D…

Vision transformers (ViTs) have recently been widely applied to 3D point cloud understanding, with masked autoencoding as the predominant pre-training paradigm. However, the challenge of learning dense and informative semantic features from…

Recovering high-quality surfaces from irregular point cloud is ill-posed unless strong geometric priors are available. We introduce an implicit self-prior approach that distills a shape-specific prior directly from the input point cloud…

Masked video modeling (MVM) has emerged as a simple and scalable self-supervised pretraining paradigm, but only encodes motion information implicitly, limiting the encoding of temporal dynamics in the learned representations. As a result,…

We introduce a novel technique for neural point cloud consolidation which learns from only the input point cloud. Unlike other point upsampling methods which analyze shapes via local patches, in this work, we learn from global subsets. We…