相关论文: Cross-modal and Cross-domain Knowledge Transfer fo…

Bridging 2D and 3D sensor modalities is critical for robust perception in autonomous systems. However, image-to-point cloud (I2P) registration remains challenging due to the semantic-geometric gap between texture-rich but depth-ambiguous…

Semantic annotations are vital for training models for object recognition, semantic segmentation or scene understanding. Unfortunately, pixelwise annotation of images at very large scale is labor-intensive and only little labeled data is…

Unsupervised point cloud segmentation is critical for embodied artificial intelligence and autonomous driving, as it mitigates the prohibitive cost of dense point-level annotations required by fully supervised methods. While integrating 2D…

We propose a fully automatic annotation scheme that takes a raw 3D point cloud with a set of fitted CAD models as input and outputs convincing point-wise labels that can be used as cheap training data for point cloud segmentation. Compared…

Semantic segmentation networks, which are essential for robotic perception, often suffer from performance degradation when the visual distribution of the deployment environment differs from that of the source dataset on which they were…

Point clouds, as a primary representation of 3D data, can be categorized into scene domain point clouds and object domain point clouds. Point cloud self-supervised learning (SSL) has become a mainstream paradigm for learning 3D…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

Multi-source unsupervised domain adaptation~(MSDA) aims at adapting models trained on multiple labeled source domains to an unlabeled target domain. In this paper, we propose a novel multi-source domain adaptation framework based on…

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

Understanding point clouds captured from the real-world is challenging due to shifts in data distribution caused by varying object scales, sensor angles, and self-occlusion. Prior works have addressed this issue by combining recent learning…

We introduce a novel superpoint-based transformer architecture for efficient semantic segmentation of large-scale 3D scenes. Our method incorporates a fast algorithm to partition point clouds into a hierarchical superpoint structure, which…

We propose a new supervized learning framework for oversegmenting 3D point clouds into superpoints. We cast this problem as learning deep embeddings of the local geometry and radiometry of 3D points, such that the border of objects presents…

Cross-modal 3D retrieval is a critical yet challenging task, aiming to achieve bi-directional retrieval between 3D and text modalities. Current methods predominantly rely on a certain 3D representation (e.g., point cloud), with few…

Self-supervised learning has demonstrated considerable potential in hyperspectral representation, yet its application in cross-domain transfer scenarios remains under-explored. Existing methods, however, still rely on source domain…

3D object detection is an important task in computer vision. Most existing methods require a large number of high-quality 3D annotations, which are expensive to collect. Especially for outdoor scenes, the problem becomes more severe due to…

In semi-supervised domain adaptation (SSDA), a few labeled target samples of each class help the model to transfer knowledge representation from the fully labeled source domain to the target domain. Many existing methods ignore the benefits…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

Although recent point cloud analysis achieves impressive progress, the paradigm of representation learning from a single modality gradually meets its bottleneck. In this work, we take a step towards more discriminative 3D point cloud…