相关论文: Semantic-aware Transmission for Robust Point Cloud…

Deep neural networks for 3D point cloud classification, such as PointNet, have been demonstrated to be vulnerable to adversarial attacks. Current adversarial defenders often learn to denoise the (attacked) point clouds by reconstruction,…

Processing 3D data efficiently has always been a challenge. Spatial operations on large-scale point clouds, stored as sparse data, require extra cost. Attracted by the success of transformers, researchers are using multi-head attention for…

A well-designed fine-grained categorization system usually has three contradictory requirements: accuracy (the ability to identify objects among subordinate categories); interpretability (the ability to provide human-understandable…

To improve device robustness, a highly desirable key feature of a competitive data-driven acoustic scene classification (ASC) system, a novel two-stage system based on fully convolutional neural networks (CNNs) is proposed. Our two-stage…

Conventional point cloud semantic segmentation methods usually employ an encoder-decoder architecture, where mid-level features are locally aggregated to extract geometric information. However, the over-reliance on these class-agnostic…

Compared with the current Shannon's Classical Information Theory (CIT) paradigm, semantic communication (SemCom) has recently attracted more attention, since it aims to transmit the meaning of information rather than bit-by-bit…

Point-cloud semantic segmentation underpins a wide range of critical applications. Although recent deep architectures and large-scale datasets have driven impressive closed-set performance, these models struggle to recognize or properly…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

Point cloud segmentation is one of the most important tasks in computer vision with widespread scientific, industrial, and commercial applications. The research thereof has resulted in many breakthroughs in 3D object and scene…

With the advent of the 6G era, the concept of semantic communication has attracted increasing attention. Compared with conventional communication systems, semantic communication systems are not only affected by physical noise existing in…

Novel class discovery (NCD) for semantic segmentation is the task of learning a model that can segment unlabelled (novel) classes using only the supervision from labelled (base) classes. This problem has recently been pioneered for 2D image…

We present a novel active learning framework for 3D point cloud semantic segmentation that, for the first time, integrates large language models (LLMs) to construct hierarchical label structures and guide uncertainty-based sample selection.…

Semantic communication is recognized for its high compression efficiency and robust resistance to noise. However, utilizing a fixed transmission rate in environments with dynamic signal-to-noise ratios (SNR) often results in inefficient use…

We propose semantic communication over wireless channels for various modalities, e.g., text and images, in a task-oriented communications setup where the task is classification. We present two approaches based on memory and learning. Both…

Storing and transmitting LiDAR point cloud data is essential for many AV applications, such as training data collection, remote control, cloud services or SLAM. However, due to the sparsity and unordered structure of the data, it is…

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…

Object retrieval and classification in point cloud data is challenged by noise, irregular sampling density and occlusion. To address this issue, we propose a point pair descriptor that is robust to noise and occlusion and achieves high…

Semantic segmentation of 3D point clouds is a challenging problem with numerous real-world applications. While deep learning has revolutionized the field of image semantic segmentation, its impact on point cloud data has been limited so…

We present Point-BERT, a new paradigm for learning Transformers to generalize the concept of BERT to 3D point cloud. Inspired by BERT, we devise a Masked Point Modeling (MPM) task to pre-train point cloud Transformers. Specifically, we…

In this case study, we present a data-efficient point cloud segmentation pipeline and training framework for robust segmentation of unimproved roads and seven other classes. Our method employs a two-stage training framework: first, a…