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

Generating a set of high-quality correspondences or matches is one of the most critical steps in point cloud registration. This paper proposes a learning framework COTReg by jointly considering the pointwise and structural matchings to…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

Edge-cloud synergies provide a promising paradigm for privacy-preserving deployment of foundation models, where lightweight on-device models adapt to domain-specific data and cloud-hosted models coordinate knowledge sharing. However, in…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

In this paper, we present a novel registration framework, HumanReg, that learns a non-rigid transformation between two human point clouds end-to-end. We introduce body prior into the registration process to efficiently handle this type of…

We propose a systematic approach for registering cross-source point clouds. The compelling need for cross-source point cloud registration is motivated by the rapid development of a variety of 3D sensing techniques, but many existing…

Machine learning models for molecular property prediction generally rely on representations -- such as SMILES strings and molecular graphs -- that overlook the surface-local phenomena driving intermolecular behavior. 3D-based approaches…

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…

The core of self-supervised point cloud learning lies in setting up appropriate pretext tasks, to construct a pre-training framework that enables the encoder to perceive 3D objects effectively. In this paper, we integrate two prevalent…

In this paper, we present a novel approach for multiview point cloud registration. Different from previous researches that typically employ a global scheme for multiview registration, we propose to adopt an incremental pipeline to…

To address the performance limitations of the Segment Anything Model (SAM) in specific domains, existing works primarily adopt adapter-based one-step adaptation paradigms. However, some of these methods are specific developed for specific…

Semantic caching enhances the efficiency of large language model (LLM) systems by identifying semantically similar queries, storing responses once, and serving them for subsequent equivalent requests. However, existing semantic caching…

In this work, a language-level Semantics Conditioned framework for 3D Point cloud segmentation, called SeCondPoint, is proposed, where language-level semantics are introduced to condition the modeling of point feature distribution as well…

Most masked point cloud modeling (MPM) methods follow a regression paradigm to reconstruct the coordinate or feature of masked regions. However, they tend to over-constrain the model to learn the details of the masked region, resulting in…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

Recent investigations on rotation invariance for 3D point clouds have been devoted to devising rotation-invariant feature descriptors or learning canonical spaces where objects are semantically aligned. Examinations of learning frameworks…

Accurate registration between LiDAR (Light Detection and Ranging) point clouds and semantic 3D city models is a fundamental topic in urban digital twinning and a prerequisite for downstream tasks, such as digital construction, change…

Registration methods for point clouds have become a key component of many SLAM systems on autonomous vehicles. However, an accurate estimate of the uncertainty of such registration is a key requirement to a consistent fusion of this kind of…

Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Recent works leverage the power of deep learning for registering a pair of point sets. However, unfortunately, deep…