相关论文: TREND: Unsupervised 3D Representation Learning via…

In the field of 3D scene understanding, 3D scene graphs have emerged as a new scene representation that combines geometric and semantic information about objects and their relationships. However, learning semantic 3D scene graphs in a fully…

Recent advances in 3D perception have shown impressive progress in understanding geometric structures of 3Dshapes and even scenes. Inspired by these advances in geometric understanding, we aim to imbue image-based perception with…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

Deep neural networks for time series must capture complex temporal patterns, to effectively represent dynamic data. Self- and semi-supervised learning methods show promising results in pre-training large models, which -- when finetuned for…

Unsupervised representation learning aims at finding methods that learn representations from data without annotation-based signals. Abstaining from annotations not only leads to economic benefits but may - and to some extent already does -…

In this work we propose for the first time a transformer-based framework for unsupervised representation learning of multivariate time series. Pre-trained models can be potentially used for downstream tasks such as regression and…

Recently, great progress has been made in 3D deep learning with the emergence of deep neural networks specifically designed for 3D point clouds. These networks are often trained from scratch or from pre-trained models learned purely from…

Monocular 3D object detection continues to attract attention due to the cost benefits and wider availability of RGB cameras. Despite the recent advances and the ability to acquire data at scale, annotation cost and complexity still limit…

We propose a new self-supervised method for pre-training the backbone of deep perception models operating on point clouds. The core idea is to train the model on a pretext task which is the reconstruction of the surface on which the 3D…

We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

Deep neural networks have gained tremendous success in a broad range of machine learning tasks due to its remarkable capability to learn semantic-rich features from high-dimensional data. However, they often require large-scale labelled…

Unsupervised contrastive learning for indoor-scene point clouds has achieved great successes. However, unsupervised learning point clouds in outdoor scenes remains challenging because previous methods need to reconstruct the whole scene and…

Semi-supervised segmentation tackles the scarcity of annotations by leveraging unlabeled data with a small amount of labeled data. A prominent way to utilize the unlabeled data is by consistency training which commonly uses a…

3D semantic segmentation plays a pivotal role in autonomous driving and road infrastructure analysis, yet state-of-the-art 3D models are prone to severe domain shift when deployed across different datasets. In this paper, we propose an…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

Deep learning has been actively studied for time series forecasting, and the mainstream paradigm is based on the end-to-end training of neural network architectures, ranging from classical LSTM/RNNs to more recent TCNs and Transformers.…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

Time-series representation learning can extract representations from data with temporal dynamics and sparse labels. When labeled data are sparse but unlabeled data are abundant, contrastive learning, i.e., a framework to learn a latent…

As a pioneering work, PointContrast conducts unsupervised 3D representation learning via leveraging contrastive learning over raw RGB-D frames and proves its effectiveness on various downstream tasks. However, the trend of large-scale…