相关论文: GroupContrast: Semantic-aware Self-supervised Repr…

An effective framework for learning 3D representations for perception tasks is distilling rich self-supervised image features via contrastive learning. However, image-to point representation learning for autonomous driving datasets faces…

Rapid progress in 3D semantic segmentation is inseparable from the advances of deep network models, which highly rely on large-scale annotated data for training. To address the high cost and challenges of 3D point-level labeling, we present…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

We propose a unified point cloud video self-supervised learning framework for object-centric and scene-centric data. Previous methods commonly conduct representation learning at the clip or frame level and cannot well capture fine-grained…

We present a new approach to instill 4D dynamic object priors into learned 3D representations by unsupervised pre-training. We observe that dynamic movement of an object through an environment provides important cues about its objectness,…

Self-supervised representation learning is a critical problem in computer vision, as it provides a way to pretrain feature extractors on large unlabeled datasets that can be used as an initialization for more efficient and effective…

In this paper, we tackle the problem of learning visual representations from unlabeled scene-centric data. Existing works have demonstrated the potential of utilizing the underlying complex structure within scene-centric data; still, they…

Self-supervised instance discrimination is an effective contrastive pretext task to learn feature representations and address limited medical image annotations. The idea is to make features of transformed versions of the same images similar…

This paper proposes an adaptive margin contrastive learning method for 3D semantic segmentation on point clouds. Most existing methods use equally penalized objectives, which ignore the per-point ambiguities and less discriminated features…

Though a number of point cloud learning methods have been proposed to handle unordered points, most of them are supervised and require labels for training. By contrast, unsupervised learning of point cloud data has received much less…

Accurately detecting objects in the environment is a key challenge for autonomous vehicles. However, obtaining annotated data for detection is expensive and time-consuming. We introduce PatchContrast, a novel self-supervised point cloud…

As a pioneering work, PointContrast conducts unsupervised 3D representation learning via leveraging contrastive learning over raw RGB-D frames and proves its effectiveness on various downstream tasks. However, the trend of large-scale…

In this paper, we propose an adaptive margin contrastive learning method for 3D point cloud semantic segmentation, namely AMContrast3D. Most existing methods use equally penalized objectives, which ignore per-point ambiguities and less…

Point clouds have attracted increasing attention. Significant progress has been made in methods for point cloud analysis, which often requires costly human annotation as supervision. To address this issue, we propose a novel…

To alleviate the cost of collecting and annotating large-scale point cloud datasets, we propose an unsupervised learning approach to learn features from unlabeled point cloud "3D object" dataset by using part contrasting and object…

Contrastive learning has recently demonstrated great potential for unsupervised pre-training in 3D scene understanding tasks. However, most existing work randomly selects point features as anchors while building contrast, leading to a clear…

Self-supervised representation learning for visual pre-training has achieved remarkable success with sample (instance or pixel) discrimination and semantics discovery of instance, whereas there still exists a non-negligible gap between…

Geometry and color information provided by the point clouds are both crucial for 3D scene understanding. Two pieces of information characterize the different aspects of point clouds, but existing methods lack an elaborate design for the…

We study self-supervised learning on graphs using contrastive methods. A general scheme of prior methods is to optimize two-view representations of input graphs. In many studies, a single graph-level representation is computed as one of the…

Pre-training has become a standard paradigm in many computer vision tasks. However, most of the methods are generally designed on the RGB image domain. Due to the discrepancy between the two-dimensional image plane and the three-dimensional…