相关论文: Instance-free Text to Point Cloud Localization wit…

Processing 3D data efficiently has always been a challenge. Spatial operations on large-scale point clouds, stored as sparse data, require extra cost. Attracted by the success of transformers, researchers are using multi-head attention for…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…

Transformer with its underlying attention mechanism and the ability to capture long-range dependencies makes it become a natural choice for unordered point cloud data. However, separated local regions from the general sampling architecture…

We prove under practical assumptions that Rotary Positional Embedding (RoPE) introduces an intrinsic distance-dependent bias in attention scores that limits RoPE's ability to model long-context. RoPE extension methods may alleviate this…

Correspondence search is an essential step in rigid point cloud registration algorithms. Most methods maintain a single correspondence at each step and gradually remove wrong correspondances. However, building one-to-one correspondence with…

With the rapid proliferation of information across digital platforms, stance detection has emerged as a pivotal challenge in social media analysis. While most of the existing approaches focus solely on textual data, real-world social media…

Current vision-language pre-training (VLP) paradigms excel at global scene understanding but struggle with instance-level reasoning due to global-only supervision. We introduce InstAP, an Instance-Aware Pre-training framework that jointly…

Prior research on self-supervised learning has led to considerable progress on image classification, but often with degraded transfer performance on object detection. The objective of this paper is to advance self-supervised pretrained…

Natural language often struggles to accurately associate positional and attribute information with multiple instances, which limits current text-based visual generation models to simpler compositions featuring only a few dominant instances.…

Existing position based point cloud filtering methods can hardly preserve sharp geometric features. In this paper, we rethink point cloud filtering from a non-learning non-local non-normal perspective, and propose a novel position based…

Text-to-image person retrieval aims to identify the target person based on a given textual description query. The primary challenge is to learn the mapping of visual and textual modalities into a common latent space. Prior works have…

3D instance segmentation is crucial for obtaining an understanding of a point cloud scene. This paper presents a novel neural network architecture for performing instance segmentation on 3D point clouds. We propose to jointly learn…

Recent advances in imitation learning and vision-language models highlight the need for high-fidelity tactile perception, with 6-DoF tactile object pose estimation providing a crucial foundation for precise robotic manipulation. We…

Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…

Multi-person pose estimation is an attractive and challenging task. Existing methods are mostly based on two-stage frameworks, which include top-down and bottom-up methods. Two-stage methods either suffer from high computational redundancy…

The goal of object pose estimation is to visually determine the pose of a specific object in the RGB-D input. Unfortunately, when faced with new categories, both instance-based and category-based methods are unable to deal with unseen…

In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in the current search point cloud given a template point cloud. Motivated by the success of transformers, we propose Point Tracking…

The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…

Recently, transformer-based methods have dominated 3D instance segmentation, where mask attention is commonly involved. Specifically, object queries are guided by the initial instance masks in the first cross-attention, and then iteratively…

Models that can execute natural language instructions for situated robotic tasks such as assembly and navigation have several useful applications in homes, offices, and remote scenarios. We study the semantics of spatially-referred…