相关论文: A Divide-and-Conquer Approach for Global Orientati…

This study presents a divide-and-conquer (DC) approach based on feature space decomposition for classification. When large-scale datasets are present, typical approaches usually employed truncated kernel methods on the feature space or DC…

Accurate medical image segmentation requires effective modeling of both long-range dependencies and fine-grained boundary details. While transformers mitigate the issue of insufficient semantic information arising from the limited receptive…

Perception of traversable regions and objects of interest from a 3D point cloud is one of the critical tasks in autonomous navigation. A ground vehicle needs to look for traversable terrains that are explorable by wheels. Then, to make safe…

Point cloud salient object detection has attracted the attention of researchers in recent years. Since existing works do not fully utilize the geometry context of 3D objects, blurry boundaries are generated when segmenting objects with…

LiDAR-based place recognition is an essential and challenging task both in loop closure detection and global relocalization. We propose Deep Scan Context (DSC), a general and discriminative global descriptor that captures the relationship…

High-accuracy Dichotomous Image Segmentation (DIS) aims to pinpoint category-agnostic foreground objects from natural scenes. The main challenge for DIS involves identifying the highly accurate dominant area while rendering detailed object…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

This paper proposes a general solution to enable point cloud recognition models to handle distribution shifts at test time. Unlike prior methods, which rely heavily on training data (often inaccessible during online inference) and are…

With the rapid progress of multimodal foundation models and predictive pre-training, an important open question is how to equip 3D point clouds with a pre-training paradigm that is better aligned with next-token and next-embedding learning.…

Place recognition is an important task for robots and autonomous cars to localize themselves and close loops in pre-built maps. While single-modal sensor-based methods have shown satisfactory performance, cross-modal place recognition that…

Divide-and-conquer is a central paradigm for the design of algorithms, through which some fundamental computational problems, such as sorting arrays and computing convex hulls, are solved in optimal time within $\Theta(n\log{n})$ in the…

Point cloud learning is receiving increasing attention. However, most existing point cloud models lack the practical ability to deal with the unavoidable presence of unknown objects. This paper primarily discusses point cloud learning in…

Weakly supervised point cloud segmentation, i.e. semantically segmenting a point cloud with only a few labeled points in the whole 3D scene, is highly desirable due to the heavy burden of collecting abundant dense annotations for the model…

Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…

Point clouds are a basic data type that is increasingly of interest as 3D content becomes more ubiquitous. Applications using point clouds include virtual, augmented, and mixed reality and autonomous driving. We propose a more efficient…

Visual Place recognition is commonly addressed as an image retrieval problem. However, retrieval methods are impractical to scale to large datasets, densely sampled from city-wide maps, since their dimension impact negatively on the…

Deep learning systems extensively use convolution operations to process input data. Though convolution is clearly defined for structured data such as 2D images or 3D volumes, this is not true for other data types such as sparse point…

3D perception in point clouds is transforming the perception ability of future intelligent machines. Point cloud algorithms, however, are plagued by irregular memory accesses, leading to massive inefficiencies in the memory sub-system,…

Reticular structures form the backbone of major infrastructure like bridges, pylons, and airports, but their inspection and maintenance are costly and hazardous, often requiring human intervention. While prior research has focused on fault…

In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…