相关论文: PointMT: Efficient Point Cloud Analysis with Hybri…

Most existing learning-based point cloud descriptors for point cloud registration focus on perceiving local information of point clouds to generate distinctive features. However, a reasonable and broader receptive field is essential for…

Point cloud processing methods leverage local and global point features %at the feature level to cater to downstream tasks, yet they often overlook the task-level context inherent in point clouds during the encoding stage. We argue that…

Point cloud completion is essential for robust 3D perception in safety-critical applications such as robotics and augmented reality. However, existing models perform static inference and rely heavily on inductive biases learned during…

The evolution of Vision Transformers has led to their widespread adaptation to different domains. Despite large-scale success, there remain significant challenges including their reliance on extensive computational and memory resources for…

The recently developed pure Transformer architectures have attained promising accuracy on point cloud learning benchmarks compared to convolutional neural networks. However, existing point cloud Transformers are computationally expensive…

3D single object tracking is a key issue for robotics. In this paper, we propose a transformer module called Point-Track-Transformer (PTT) for point cloud-based 3D single object tracking. PTT module contains three blocks for feature…

We present a Multimodal Interlaced Transformer (MIT) that jointly considers 2D and 3D data for weakly supervised point cloud segmentation. Research studies have shown that 2D and 3D features are complementary for point cloud segmentation.…

3D point cloud semantic segmentation aims to group all points into different semantic categories, which benefits important applications such as point cloud scene reconstruction and understanding. Existing supervised point cloud semantic…

Current data-driven methodologies for point cloud matching demand extensive training time and computational resources, presenting significant challenges for model deployment and application. In the point cloud matching task, recent…

Transformers have sprung up in the field of computer vision. In this work, we explore whether the core self-attention module in Transformer is the key to achieving excellent performance in image recognition. To this end, we build an…

Recently MLP-based methods have shown strong performance in point cloud analysis. Simple MLP architectures are able to learn geometric features in local point groups yet fail to model long-range dependencies directly. In this paper, we…

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…

Although recent point cloud analysis achieves impressive progress, the paradigm of representation learning from a single modality gradually meets its bottleneck. In this work, we take a step towards more discriminative 3D point cloud…

The recent trend in deep learning methods for 3D point cloud understanding is to propose increasingly sophisticated architectures either to better capture 3D geometries or by introducing possibly undesired inductive biases. Moreover, prior…

The irregular domain and lack of ordering make it challenging to design deep neural networks for point cloud processing. This paper presents a novel framework named Point Cloud Transformer(PCT) for point cloud learning. PCT is based on…

Existing point cloud completion methods struggle to balance high-quality reconstruction with computational efficiency. To address this, we propose PPC-MT, a novel parallel framework for point cloud completion leveraging a hybrid…

Point-based 3D point cloud models employ computation and memory intensive mapping functions alongside NN layers for classification/segmentation, and are executed on server-grade GPUs. The sparse, and unstructured nature of 3D point cloud…

In recent years, there have been significant advancements in applying attention mechanisms to point cloud analysis. However, attention module variants featured in various research papers often operate under diverse settings and tasks,…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

3D object detection is an essential vision technique for various robotic systems, such as augmented reality and domestic robots. Transformers as versatile network architectures have recently seen great success in 3D point cloud object…