相关论文: 2D-3D Interlaced Transformer for Point Cloud Segme…

Most of the existing self-supervised feature learning methods for 3D data either learn 3D features from point cloud data or from multi-view images. By exploring the inherent multi-modality attributes of 3D objects, in this paper, we propose…

3D dense captioning aims to describe individual objects by natural language in 3D scenes, where 3D scenes are usually represented as RGB-D scans or point clouds. However, only exploiting single modal information, e.g., point cloud, previous…

As a promising scheme of self-supervised learning, masked autoencoding has significantly advanced natural language processing and computer vision. Inspired by this, we propose a neat scheme of masked autoencoders for point cloud…

Given the prominence of current 3D sensors, a fine-grained analysis on the basic point cloud data is worthy of further investigation. Particularly, real point cloud scenes can intuitively capture complex surroundings in the real world, but…

LiDAR-based 3D point cloud recognition has been proven beneficial in various applications. However, the sparsity and varying density pose a significant challenge in capturing intricate details of objects, particularly for medium-range and…

Point clouds obtained from capture devices or 3D reconstruction techniques are often noisy and interfere with downstream tasks. The paper aims to recover the underlying surface of noisy point clouds. We design a novel model, NoiseTrans,…

LiDAR and camera are two important sensors for 3D object detection in autonomous driving. Despite the increasing popularity of sensor fusion in this field, the robustness against inferior image conditions, e.g., bad illumination and sensor…

The commonly adopted detect-then-match approach to registration finds difficulties in the cross-modality cases due to the incompatible keypoint detection and inconsistent feature description. We propose, 2D3D-MATR, a detection-free method…

Point cloud processing and 3D shape understanding are very challenging tasks for which deep learning techniques have demonstrated great potentials. Still further progresses are essential to allow artificial intelligent agents to interact…

In this paper, we propose a novel learning-based pipeline for partially overlapping 3D point cloud registration. The proposed model includes an iterative distance-aware similarity matrix convolution module to incorporate information from…

Recently,vision-based robotic manipulation has garnered significant attention and witnessed substantial advancements. 2D image-based and 3D point cloud-based policy learning represent two predominant paradigms in the field, with recent…

Multi-task scene understanding aims to design models that can simultaneously predict several scene understanding tasks with one versatile model. Previous studies typically process multi-task features in a more local way, and thus cannot…

The success of deep learning methods led to significant breakthroughs in 3-D point cloud processing tasks with applications in remote sensing. Existing methods utilize convolutions that have some limitations, as they assume a uniform input…

Multi-task networks can potentially improve performance and computational efficiency compared to single-task networks, facilitating online deployment. However, current multi-task architectures in point cloud perception combine multiple…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

Semantic segmentation on 3D point clouds is an important task for 3D scene understanding. While dense labeling on 3D data is expensive and time-consuming, only a few works address weakly supervised semantic point cloud segmentation methods…

Point clouds are a basic data type that is increasingly of interest as 3D content becomes more ubiquitous. Applications using point clouds include virtual, augmented, and mixed reality and autonomous driving. We propose a more efficient…

Multi-modality image fusion aims at fusing modality-specific (complementarity) and modality-shared (correlation) information from multiple source images. To tackle the problem of the neglect of inter-feature relationships, high-frequency…

Masked Autoencoders (MAE) have shown promising performance in self-supervised learning for both 2D and 3D computer vision. However, existing MAE-style methods can only learn from the data of a single modality, i.e., either images or point…

Many existing approaches for 3D point cloud semantic segmentation are fully supervised. These fully supervised approaches heavily rely on large amounts of labeled training data that are difficult to obtain and cannot segment new classes…