相关论文: Robustifying Point Cloud Networks by Refocusing

The idea behind object-centric representation learning is that natural scenes can better be modeled as compositions of objects and their relations as opposed to distributed representations. This inductive bias can be injected into neural…

Point cloud segmentation and classification are some of the primary tasks in 3D computer vision with applications ranging from augmented reality to robotics. However, processing point clouds using deep learning-based algorithms is quite…

3D point cloud semantic and instance segmentation is crucial and fundamental for 3D scene understanding. Due to the complex structure, point sets are distributed off balance and diversely, which appears as both category imbalance and…

As a novel technology, cloud computing attracts more and more people including technology enthusiasts and malicious users. Different from the classical network architecture, cloud environment has many its own features which make the…

Real-world environment-derived point clouds invariably exhibit noise across varying modalities and intensities. Hence, point cloud denoising (PCD) is essential as a preprocessing step to improve downstream task performance. Deep learning…

Improving out-of-distribution (OOD) generalization during in-distribution (ID) adaptation is a primary goal of robust fine-tuning of zero-shot models beyond naive fine-tuning. However, despite decent OOD generalization performance from…

Out-of-Distribution (OOD) detection is critical for safe deployment; however, existing detectors often struggle to generalize across datasets of varying scales and model architectures, and some can incur high computational costs in…

Robustness against adversarial attack in neural networks is an important research topic in the machine learning community. We observe one major source of vulnerability of neural nets is from overparameterized fully-connected layers. In this…

Modern machine learning models are becoming increasingly expensive to train for real-world image and text classification tasks, where massive web-scale data is collected in a streaming fashion. To reduce the training cost, online batch…

Modern neural networks are very powerful predictive models, but they are often incapable of recognizing when their predictions may be wrong. Closely related to this is the task of out-of-distribution detection, where a network must…

Deep neural networks for 3D point cloud understanding have achieved remarkable success in object classification and recognition, yet recent work shows that these models remain highly vulnerable to adversarial perturbations. Existing 3D…

Neural machine learning models can successfully model language that is similar to their training distribution, but they are highly susceptible to degradation under distribution shift, which occurs in many practical applications when…

Accurate state and uncertainty estimation is imperative for mobile robots and self driving vehicles to achieve safe navigation in pedestrian rich environments. A critical component of state and uncertainty estimation for robot navigation is…

The annotation of 3D datasets is required for semantic-segmentation and object detection in scene understanding. In this paper we present a framework for the weakly supervision of a point clouds transformer that is used for 3D object…

Though Convolutional Neural Networks (CNNs) have surpassed human-level performance on tasks such as object classification and face verification, they can easily be fooled by adversarial attacks. These attacks add a small perturbation to the…

Existing deep learning methods for the reconstruction and denoising of point clouds rely on small datasets of 3D shapes. We circumvent the problem by leveraging deep learning methods trained on billions of images. We propose a method to…

In recent years, there has been a significant increase in the utilization of deep learning methods, particularly convolutional neural networks (CNNs), which have emerged as the dominant approach in various domains that involve structured…

Data augmentation is a powerful technique to enhance the performance of a deep learning task but has received less attention in 3D deep learning. It is well known that when 3D shapes are sparsely represented with low point density, the…

We present a neural-network-based architecture for 3D point cloud denoising called neural projection denoising (NPD). In our previous work, we proposed a two-stage denoising algorithm, which first estimates reference planes and follows by…

Out-of-distribution (OOD) detection in 3D point cloud data remains a challenge, particularly in applications where safe and robust perception is critical. While existing OOD detection methods have shown progress for 2D image data, extending…