相关论文: Learning Instance-Aware Correspondences for Robust…

We address the problem of estimating the poses of multiple instances of the source point cloud within a target point cloud. Existing solutions require sampling a lot of hypotheses to detect possible instances and reject the outliers, whose…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

The perception of moving objects is crucial for autonomous robots performing collision avoidance in dynamic environments. LiDARs and cameras tremendously enhance scene interpretation but do not provide direct motion information and face…

Multi-instance point cloud registration is the problem of estimating multiple poses of source point cloud instances within a target point cloud. Solving this problem is challenging since inlier correspondences of one instance constitute…

3D instance segmentation aims to predict a set of object instances in a scene, representing them as binary foreground masks with corresponding semantic labels. Currently, transformer-based methods are gaining increasing attention due to…

Recent advances in self-supervised learning (SSL) for point clouds have substantially improved 3D scene understanding without human annotations. Existing approaches emphasize semantic awareness by enforcing feature consistency across…

Despite recent success in incorporating learning into point cloud registration, many works focus on learning feature descriptors and continue to rely on nearest-neighbor feature matching and outlier filtering through RANSAC to obtain the…

In this paper, we propose a novel approach to tackle the multiple instance regression (MIR) problem. This problem arises when the data is a collection of bags, where each bag is made of multiple instances corresponding to the same unique…

Compared with the visual grounding on 2D images, the natural-language-guided 3D object localization on point clouds is more challenging. In this paper, we propose a new model, named InstanceRefer, to achieve a superior 3D visual grounding…

Multi-agent collaborative perception has emerged as a widely recognized technology in the field of autonomous driving in recent years. However, current collaborative perception predominantly relies on LiDAR point clouds, with significantly…

This paper presents a new method to solve keypoint detection and instance association by using Transformer. For bottom-up multi-person pose estimation models, they need to detect keypoints and learn associative information between…

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the…

We propose an embarrassingly simple point annotation scheme to collect weak supervision for instance segmentation. In addition to bounding boxes, we collect binary labels for a set of points uniformly sampled inside each bounding box. We…

Most existing methods realize 3D instance segmentation by extending those models used for 3D object detection or 3D semantic segmentation. However, these non-straightforward methods suffer from two drawbacks: 1) Imprecise bounding boxes or…

Recently neural networks and multiple instance learning are both attractive topics in Artificial Intelligence related research fields. Deep neural networks have achieved great success in supervised learning problems, and multiple instance…

Aerial scenes are more complicated in terms of object distribution and spatial arrangement than natural scenes due to the bird view, and thus remain challenging to learn discriminative scene representation. Recent solutions design…

Text-to-point-cloud cross-modal localization is an emerging vision-language task critical for future robot-human collaboration. It seeks to localize a position from a city-scale point cloud scene based on a few natural language…

Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

Due to the few annotated labels of 3D point clouds, how to learn discriminative features of point clouds to segment object instances is a challenging problem. In this paper, we propose a simple yet effective 3D instance segmentation…