相关论文: PVContext: Hybrid Context Model for Point Cloud Co…

Large Language Models (LLMs) encounter significant challenges in long-sequence inference due to computational inefficiency and redundant processing, driving interest in context compression techniques. Existing methods often rely on token…

Point clouds are a very efficient way to represent volumetric data in medical imaging. First, they do not occupy resources for empty spaces and therefore can avoid trade-offs between resolution and field-of-view for voxel-based 3D…

This article addresses the problem of distilling knowledge from a large teacher model to a slim student network for LiDAR semantic segmentation. Directly employing previous distillation approaches yields inferior results due to the…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

Autoencoders allow to reconstruct a given input from a small set of parameters. However, the input size is often limited due to computational costs. We therefore propose a clustering and reassembling method for volumetric point clouds, in…

Through reading the documentation in the context, tool-using language models can dynamically extend their capability using external tools. The cost is that we have to input lengthy documentation every time the model needs to use the tool,…

To better address challenging issues of the irregularity and inhomogeneity inherently present in 3D point clouds, researchers have been shifting their focus from the design of hand-craft point feature towards the learning of 3D point…

We present Voxel Transformer (VoTr), a novel and effective voxel-based Transformer backbone for 3D object detection from point clouds. Conventional 3D convolutional backbones in voxel-based 3D detectors cannot efficiently capture large…

3D understanding has drawn significant attention recently, leveraging Vision-Language Models (VLMs) to enable multi-modal reasoning between point cloud and text data. Current 3D-VLMs directly embed the 3D point clouds into 3D tokens,…

In this paper, we present a novel proxy-based method of the adaptive haptic rendering of a variable density 3D point cloud data at different levels of detail without pre-computing the mesh structure. We also incorporate features like…

Neural Video Compression has emerged in recent years, with condition-based frameworks outperforming traditional codecs. However, most existing methods rely solely on the previous frame's features to predict temporal context, leading to two…

LiDAR point cloud compression is vital for autonomous systems to handle massive data from high-resolution sensors. While learned entropy modeling built upon octree structures yields high compression gains, it faces two critical bottlenecks:…

Compression of point clouds has so far been confined to coding the positions of a discrete set of points in space and the attributes of those discrete points. We introduce an alternative approach based on volumetric functions, which are…

Self-attention mechanisms model long-range context by using pairwise attention between all input tokens. In doing so, they assume a fixed attention granularity defined by the individual tokens (e.g., text characters or image pixels), which…

The key to effective point cloud compression is to obtain a robust context model consistent with complex 3D data structures. Recently, the advancement of large language models (LLMs) has highlighted their capabilities not only as powerful…

Long-context reasoning has significantly empowered large language models (LLMs) to tackle complex tasks, yet it introduces severe efficiency bottlenecks due to the computational complexity. Existing efficient approaches often rely on…

Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…

Stable diffusion networks have emerged as a groundbreaking development for their ability to produce realistic and detailed visual content. This characteristic renders them ideal decoders, capable of producing high-quality and aesthetically…

Efficient compression of low-bit-rate point clouds is critical for bandwidth-constrained applications. However, existing techniques mainly focus on high-fidelity reconstruction, requiring many bits for compression. This paper proposes a…