相关论文: Invariant Training 2D-3D Joint Hard Samples for Fe…

Few-shot video classification aims to learn new video categories with only a few labeled examples, alleviating the burden of costly annotation in real-world applications. However, it is particularly challenging to learn a class-invariant…

Growing customer demand for smart solutions in robotics and augmented reality has attracted considerable attention to 3D object detection from point clouds. Yet, existing indoor datasets taken individually are too small and insufficiently…

Existing state-of-the-art 3D instance segmentation methods perform semantic segmentation followed by grouping. The hard predictions are made when performing semantic segmentation such that each point is associated with a single class.…

Discrete point cloud objects lack sufficient shape descriptors of 3D geometries. In this paper, we present a novel method for aggregating hypothetical curves in point clouds. Sequences of connected points (curves) are initially grouped by…

In this paper, we propose a similarity-aware fusion network (SAFNet) to adaptively fuse 2D images and 3D point clouds for 3D semantic segmentation. Existing fusion-based methods achieve remarkable performances by integrating information…

This paper studies the unsupervised embedding learning problem, which requires an effective similarity measurement between samples in low-dimensional embedding space. Motivated by the positive concentrated and negative separated properties…

Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…

Zero-shot learning, the task of learning to recognize new classes not seen during training, has received considerable attention in the case of 2D image classification. However, despite the increasing ubiquity of 3D sensors, the…

Existing approaches for unsupervised point cloud pre-training are constrained to either scene-level or point/voxel-level instance discrimination. Scene-level methods tend to lose local details that are crucial for recognizing the road…

The scale diversity of point cloud data presents significant challenges in developing unified representation learning techniques for 3D vision. Currently, there are few unified 3D models, and no existing pre-training method is equally…

For 3D object detection, both camera and lidar have been demonstrated to be useful sensory devices for providing complementary information about the same scenery with data representations in different modalities, e.g., 2D RGB image vs 3D…

Data scarcity poses a serious threat to modern machine learning and artificial intelligence, as their practical success typically relies on the availability of big datasets. One effective strategy to mitigate the issue of insufficient data…

Cooperative perception allows connected vehicles and roadside infrastructure to share sensor observations, creating a fused scene representation beyond the capability of any single platform. However, most cooperative 3D object detectors use…

Many applications require the robustness, or ideally the invariance, of a neural network to certain transformations of input data. Most commonly, this requirement is addressed by either augmenting the training data, using adversarial…

Learning rotation-invariant distinctive features is a fundamental requirement for point cloud registration. Existing methods often use rotation-sensitive networks to extract features, while employing rotation augmentation to learn an…

Many keypoint detection and description methods have been proposed for image matching or registration. While these methods demonstrate promising performance for single-modality image matching, they often struggle with multimodal data…

3D object detection from LiDAR point cloud is of critical importance for autonomous driving and robotics. While sequential point cloud has the potential to enhance 3D perception through temporal information, utilizing these temporal…

Training convolutional networks (CNN's) that fit on a single GPU with minibatch stochastic gradient descent has become effective in practice. However, there is still no effective method for training large CNN's that do not fit in the memory…

Existing learning-based point feature descriptors are usually task-agnostic, which pursue describing the individual 3D point clouds as accurate as possible. However, the matching task aims at describing the corresponding points consistently…

Leveraging pre-trained 2D image representations in behavior cloning policies has achieved great success and has become a standard approach for robotic manipulation. However, such representations fail to capture the 3D spatial information…