相关论文: NSM4D: Neural Scene Model Based Online 4D Point Cl…

Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…

We present a novel online depth map fusion approach that learns depth map aggregation in a latent feature space. While previous fusion methods use an explicit scene representation like signed distance functions (SDFs), we propose a learned…

Query-based 3D scene instance segmentation from point clouds has attained notable performance. However, existing methods suffer from the query initialization dilemma due to the sparse nature of point clouds and rely on computationally…

Building 3D geometric maps of man-made spaces is a well-established and active field that is fundamental to computer vision and robotics. However, considering the evolving nature of built environments, it is essential to question the…

Reconstructing dynamic 4D scenes is challenging, as it requires robust disentanglement of dynamic objects from the static background. While 3D foundation models like VGGT provide accurate 3D geometry, their performance drops markedly when…

3D semantic scene understanding is a fundamental challenge in computer vision. It enables mobile agents to autonomously plan and navigate arbitrary environments. SSC formalizes this challenge as jointly estimating dense geometry and…

Semantic segmentation for medical 3D image stacks enables accurate volumetric reconstructions, computer-aided diagnostics and follow up treatment planning. In this work, we present a novel variant of the Unet model called the NUMSnet that…

The 3D point cloud representation plays a crucial role in preserving the geometric fidelity of the physical world, enabling more accurate complex 3D environments. While humans naturally comprehend the intricate relationships between objects…

We present N4MC, the first 4D neural compression framework to efficiently compress time-varying mesh sequences by exploiting their temporal redundancy. Unlike prior neural mesh compression methods that treat each mesh frame independently,…

Learning general image representations has proven key to the success of many computer vision tasks. For example, many approaches to image understanding problems rely on deep networks that were initially trained on ImageNet, mostly because…

Point cloud processing is very challenging, as the diverse shapes formed by irregular points are often indistinguishable. A thorough grasp of the elusive shape requires sufficiently contextual semantic information, yet few works devote to…

The latest emerged 4D Panoptic Scene Graph (4D-PSG) provides an advanced-ever representation for comprehensively modeling the dynamic 4D visual real world. Unfortunately, current pioneering 4D-PSG research can primarily suffer from data…

Steering estimation is a critical task in autonomous driving, traditionally relying on 2D image-based models. In this work, we explore the advantages of incorporating 3D spatial information through hybrid architectures that combine 3D…

Performances on standard 3D point cloud benchmarks have plateaued, resulting in oversized models and complex network design to make a fractional improvement. We present an alternative to enhance existing deep neural networks without any…

The explosive growth in video streaming gives rise to challenges on performing video understanding at high accuracy and low computation cost. Conventional 2D CNNs are computationally cheap but cannot capture temporal relationships; 3D CNN…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

Understanding dynamic 3D environment is crucial for robotic agents and many other applications. We propose a novel neural network architecture called $MeteorNet$ for learning representations for dynamic 3D point cloud sequences. Different…

Point cloud segmentation (PCS) aims to make per-point predictions and enables robots and autonomous driving cars to understand the environment. The range image is a dense representation of a large-scale outdoor point cloud, and segmentation…

Classification and segmentation of 3D point clouds are important tasks in computer vision. Because of the irregular nature of point clouds, most of the existing methods convert point clouds into regular 3D voxel grids before they are used…

Extracting robust and general 3D local features is key to downstream tasks such as point cloud registration and reconstruction. Existing learning-based local descriptors are either sensitive to rotation transformations, or rely on classical…