相关论文: ML-SemReg: Boosting Point Cloud Registration with …

In this paper, we propose a point cloud classification method based on graph neural network and manifold learning. Different from the conventional point cloud analysis methods, this paper uses manifold learning algorithms to embed point…

We describe a novel approach to indoor place recognition from RGB point clouds based on aggregating low-level colour and geometry features with high-level implicit semantic features. It uses a 2-stage deep learning framework, in which the…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

In feature-learning based point cloud registration, the correct correspondence construction is vital for the subsequent transformation estimation. However, it is still a challenge to extract discriminative features from point cloud,…

Remarkable performance from Transformer networks in Natural Language Processing promote the development of these models in dealing with computer vision tasks such as image recognition and segmentation. In this paper, we introduce a novel…

In robotic inspection of aviation parts, achieving accurate pairwise point cloud registration between scanned and model data is essential. However, noise and outliers generated in robotic scanned data can compromise registration accuracy.…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

Multi-task learning (MTL) paradigm focuses on jointly learning two or more tasks, aiming for significant improvement w.r.t model's generalizability, performance, and training/inference memory footprint. The aforementioned benefits become…

The method for image-to-point cloud registration typically determines the rigid transformation using a coarse-to-fine pipeline. However, directly and uniformly matching image patches with point cloud patches may lead to focusing on…

Point cloud semantic segmentation is a crucial task in 3D scene understanding. Existing methods mainly focus on employing a large number of annotated labels for supervised semantic segmentation. Nonetheless, manually labeling such large…

The unprecedented advancements in Large Language Models (LLMs) have shown a profound impact on natural language processing but are yet to fully embrace the realm of 3D understanding. This paper introduces PointLLM, a preliminary effort to…

Existing interactive point cloud segmentation approaches primarily focus on the object segmentation, which aim to determine which points belong to the object of interest guided by user interactions. This paper concentrates on an unexplored…

We propose MFSeg, an efficient multi-frame 3D semantic segmentation framework. By aggregating point cloud sequences at the feature level and regularizing the feature extraction and aggregation process, MFSeg reduces computational overhead…

We address the challenge of point cloud registration using color information, where traditional methods relying solely on geometric features often struggle in low-overlap and incomplete scenarios. To overcome these limitations, we propose…

Retrieval-Augmented Generation (RAG) enables Large Language Models (LLMs) to extend their existing knowledge by dynamically incorporating external information. However, practical deployment is fundamentally constrained by the LLM's finite…

Point cloud registration is a common step in many 3D computer vision tasks such as object pose estimation, where a 3D model is aligned to an observation. Classical registration methods generalize well to novel domains but fail when given a…

Deep learning approaches have made tremendous progress in the field of semantic segmentation over the past few years. However, most current approaches operate in the 2D image space. Direct semantic segmentation of unstructured 3D point…

In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…

Multi-table entity matching (MEM) addresses the limitations of dual-table approaches by enabling simultaneous identification of equivalent entities across multiple data sources without unique identifiers. However, existing methods relying…

Recent advancements have highlighted the efficacy of self-supervised learning (SSL) features in various speech-related tasks, providing lightweight and versatile multi-view speech representations. However, our study reveals that while SSL…