相关论文: Shape2Scene: 3D Scene Representation Learning Thro…

Scene flow estimation is the task to predict the point-wise or pixel-wise 3D displacement vector between two consecutive frames of point clouds or images, which has important application in fields such as service robots and autonomous…

Large and rich data is a prerequisite for effective training of deep neural networks. However, the irregularity of point cloud data makes manual annotation time-consuming and laborious. Self-supervised representation learning, which…

Masked point modeling has become a promising scheme of self-supervised pre-training for point clouds. Existing methods reconstruct either the original points or related features as the objective of pre-training. However, considering the…

Current 3D-aware pretraining methods for embodied perception and manipulation are largely built on differentiable rendering frameworks, producing either fully implicit neural fields or fully explicit geometric primitives. Implicit…

In the recent years, the research community has witnessed growing use of 3D point cloud data for the high applicability in various real-world applications. By means of 3D point cloud, this modality enables to consider the actual size and…

The goal of the Semantic Scene Completion (SSC) task is to simultaneously predict a completed 3D voxel representation of volumetric occupancy and semantic labels of objects in the scene from a single-view observation. Since the…

Indoor scene understanding is central to applications such as robot navigation and human companion assistance. Over the last years, data-driven deep neural networks have outperformed many traditional approaches thanks to their…

Contrastive learning has emerged as a promising paradigm for 3D open-world understanding, i.e., aligning point cloud representation to image and text embedding space individually. In this paper, we introduce MixCon3D, a simple yet effective…

Semantic scene completion (SSC) is essential for achieving comprehensive perception in autonomous driving systems. However, existing SSC methods often overlook the high deployment costs in real-world applications. Traditional architectures,…

In view of the difficulty in reconstructing object details in point cloud completion, we propose a shape prior learning method for object completion. The shape priors include geometric information in both complete and the partial point…

Recent methods for neural surface representation and rendering, for example NeuS, have demonstrated the remarkably high-quality reconstruction of static scenes. However, the training of NeuS takes an extremely long time (8 hours), which…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

This paper investigates indoor point cloud semantic segmentation under scene-level annotation, which is less explored compared to methods relying on sparse point-level labels. In the absence of precise point-level labels, current methods…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…

Point clouds, as a primary representation of 3D data, can be categorized into scene domain point clouds and object domain point clouds. Point cloud self-supervised learning (SSL) has become a mainstream paradigm for learning 3D…

A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction,…

Manually annotating complex scene point cloud datasets is both costly and error-prone. To reduce the reliance on labeled data, a new model called SnapshotNet is proposed as a self-supervised feature learning approach, which directly works…

We address the problem of video representation learning without human-annotated labels. While previous efforts address the problem by designing novel self-supervised tasks using video data, the learned features are merely on a…

Pre-training on large-scale unlabeled datasets contribute to the model achieving powerful performance on 3D vision tasks, especially when annotations are limited. However, existing rendering-based self-supervised frameworks are…

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…