相关论文: Adapt PointFormer: 3D Point Cloud Analysis via Ada…

Fine-grained geometry, captured by aggregation of point features in local regions, is crucial for object recognition and scene understanding in point clouds. Nevertheless, existing preeminent point cloud backbones usually incorporate…

Among 2D convolutional networks on point clouds, point-based approaches consume point clouds of fixed size directly. By analysis of PointNet, a pioneer in introducing deep learning into point sets, we reveal that current point-based methods…

Self-supervised representation learning (SSRL) has gained increasing attention in point cloud understanding, in addressing the challenges posed by 3D data scarcity and high annotation costs. This paper presents PCExpert, a novel SSRL…

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…

Point cloud registration has seen significant advancements with the application of deep learning techniques. However, existing approaches often overlook the potential of integrating radiometric information from RGB images. This limitation…

Retrieval in 3D point clouds is a challenging task that consists in retrieving the most similar point clouds to a given query within a reference of 3D points. Current methods focus on comparing descriptors of point clouds in order to…

Diffusion-based models, widely used in text-to-image generation, have proven effective in 2D representation learning. Recently, this framework has been extended to 3D self-supervised learning by constructing a conditional point generator…

To apply transformer-based models to point cloud understanding, many previous works modify the architecture of transformers by using, e.g., local attention and down-sampling. Although they have achieved promising results, earlier works on…

As a promising scheme of self-supervised learning, masked autoencoding has significantly advanced natural language processing and computer vision. Inspired by this, we propose a neat scheme of masked autoencoders for point cloud…

In this paper, we present an end-to-end unsupervised anomaly detection framework for 3D point clouds. To the best of our knowledge, this is the first work to tackle the anomaly detection task on a general object represented by a 3D point…

3D surface reconstruction from point clouds is a key step in areas such as content creation, archaeology, digital cultural heritage, and engineering. Current approaches either try to optimize a non-data-driven surface representation to fit…

The recent advancements in point cloud learning have enabled intelligent vehicles and robots to comprehend 3D environments better. However, processing large-scale 3D scenes remains a challenging problem, such that efficient downsampling…

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…

In recent years, point cloud generation has gained significant attention in 3D generative modeling. Among existing approaches, point-based methods directly generate point clouds without relying on other representations such as latent…

This paper proposes a novel concept to directly match feature descriptors extracted from 2D images with feature descriptors extracted from 3D point clouds. We use this concept to directly localize images in a 3D point cloud. We generate a…

Point cloud registration is a fundamental problem in 3D computer vision. In this paper, we cast point cloud registration into a planning problem in reinforcement learning, which can seek the transformation between the source and target…

The emergence of large-scale pre-trained point cloud models has significantly advanced 3D scene understanding, but adapting these models to specific downstream tasks typically demands full fine-tuning, incurring high computational and…

3D articulated objects are inherently challenging for manipulation due to the varied geometries and intricate functionalities associated with articulated objects.Point-level affordance, which predicts the per-point actionable score and thus…

Real world images often have highly imbalanced content density. Some areas are very uniform, e.g., large patches of blue sky, while other areas are scattered with many small objects. Yet, the commonly used successive grid downsampling…

Faithfully reconstructing textured meshes is crucial for many applications. Compared to text or image modalities, leveraging 3D colored point clouds as input (colored-PC-to-mesh) offers inherent advantages in comprehensively and precisely…