相关论文: PSReg: Prior-guided Sparse Mixture of Experts for …

LiDAR and photogrammetry are active and passive remote sensing techniques for point cloud acquisition, respectively, offering complementary advantages and heterogeneous. Due to the fundamental differences in sensing mechanisms, spatial…

Dense Retrieval Models (DRMs) are a prominent development in Information Retrieval (IR). A key challenge with these neural Transformer-based models is that they often struggle to generalize beyond the specific tasks and domains they were…

Self-supervised learning can extract representations of good quality from solely unlabeled data, which is appealing for point cloud videos due to their high labelling cost. In this paper, we propose a contrastive mask prediction (PointCMP)…

We present a winning solution to RoboSense 2025 Track 4: Cross-Modal Drone Navigation. The task retrieves the most relevant geo-referenced image from a large multi-platform corpus (satellite/drone/ground) given a natural-language query. Two…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

The paper presents a learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Existing methods, such as PointNetVLAD, are based on unordered point cloud representation. They use PointNet…

The manual annotation for large-scale point clouds costs a lot of time and is usually unavailable in harsh real-world scenarios. Inspired by the great success of the pre-training and fine-tuning paradigm in both vision and language tasks,…

Partial point cloud registration is a challenging problem in robotics, especially when the robot undergoes a large transformation, causing a significant initial pose error and a low overlap between measurements. This work proposes…

Sparse mixture of experts (SMoE) offers an appealing solution to scale up the model complexity beyond the mean of increasing the network's depth or width. However, effective training of SMoE has proven to be challenging due to the…

Annotating large-scale point clouds is highly time-consuming and often infeasible for many complex real-world tasks. Point cloud pre-training has therefore become a promising strategy for learning discriminative representations without…

Scene graphs have been recently introduced into 3D spatial understanding as a comprehensive representation of the scene. The alignment between 3D scene graphs is the first step of many downstream tasks such as scene graph aided point cloud…

The commonly adopted detect-then-match approach to registration finds difficulties in the cross-modality cases due to the incompatible keypoint detection and inconsistent feature description. We propose, 2D3D-MATR, a detection-free method…

Expert parallelism has emerged as a key strategy for distributing the computational workload of sparsely-gated mixture-of-experts (MoE) models across multiple devices, enabling the processing of increasingly large-scale models. However, the…

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…

In this work, we revisit the prior mask guidance proposed in ``Prior Guided Feature Enrichment Network for Few-Shot Segmentation''. The prior mask serves as an indicator that highlights the region of interests of unseen categories, and it…

Point cloud registration is a fundamental step for many tasks. In this paper, we propose a neural network named DetarNet to decouple the translation $t$ and rotation $R$, so as to overcome the performance degradation due to their mutual…

Cross-modality point cloud registration is confronted with significant challenges due to inherent differences in modalities between different sensors. We propose a cross-modality point cloud registration framework FF-LOGO: a cross-modality…

This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i.e. rotation matrix and translation vector) between two pointcloud dataset. The method improves the robustness of point…

We propose a method for generalizing deep learning for 3D point cloud registration on new, totally different datasets. It is based on two components, MS-SVConv and UDGE. Using Multi-Scale Sparse Voxel Convolution, MS-SVConv is a fast deep…

Advances in self-supervised learning are essential for enhancing feature extraction and understanding in point cloud processing. This paper introduces PMT-MAE (Point MLP-Transformer Masked Autoencoder), a novel self-supervised learning…