相关论文: PointVDP: Learning View-Dependent Projection by Fi…

Knowledge of 3D properties of objects is a necessity in order to build effective computer vision systems. However, lack of large scale 3D datasets can be a major constraint for data-driven approaches in learning such properties. We consider…

3D point clouds play a pivotal role in outdoor scene perception, especially in the context of autonomous driving. Recent advancements in 3D LiDAR segmentation often focus intensely on the spatial positioning and distribution of points for…

Accurate detection of obstacles in 3D is an essential task for autonomous driving and intelligent transportation. In this work, we propose a general multimodal fusion framework FusionPainting to fuse the 2D RGB image and 3D point clouds at…

We present a new deep point cloud rendering pipeline through multi-plane projections. The input to the network is the raw point cloud of a scene and the output are image or image sequences from a novel view or along a novel camera…

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…

3D object detection has seen quick progress thanks to advances in deep learning on point clouds. A few recent works have even shown state-of-the-art performance with just point clouds input (e.g. VoteNet). However, point cloud data have…

Detecting 3D objects from a single RGB image is intrinsically ambiguous, thus requiring appropriate prior knowledge and intermediate representations as constraints to reduce the uncertainties and improve the consistencies between the 2D…

We present a novel 3D object detection framework, named IPOD, based on raw point cloud. It seeds object proposal for each point, which is the basic element. This paradigm provides us with high recall and high fidelity of information,…

Differentiable rendering methods promise the ability to optimize various parameters of 3d scenes to achieve a desired result. However, lighting design has so far received little attention in this field. In this paper, we introduce a method…

Recently, there has been a significant interest in performing convolution over irregularly sampled point clouds. Since point clouds are very different from regular raster images, it is imperative to study the generalization of the…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

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.…

Given a visual scene, humans have strong intuitions about how a scene can evolve over time under given actions. The intuition, often termed visual intuitive physics, is a critical ability that allows us to make effective plans to manipulate…

In this work, we propose a novel framework shape back-projection for computationally efficient point cloud processing in a probabilistic manner. The primary component of the technique is shape histogram and a back-projection procedure. The…

In this paper, we address the problem of reconstructing an object's surface from a single image using generative networks. First, we represent a 3D surface with an aggregation of dense point clouds from multiple views. Each point cloud is…

Conventional methods of 3D object generative modeling learn volumetric predictions using deep networks with 3D convolutional operations, which are direct analogies to classical 2D ones. However, these methods are computationally wasteful in…

Active object reconstruction is crucial for many robotic applications. A key aspect in these scenarios is generating object-specific view configurations to obtain informative measurements for reconstruction. One-shot view planning enables…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

In the context of imitation learning, visuomotor-based diffusion policy learning is one of the main directions in robotic manipulation. Most of these approaches rely on point clouds as observation inputs and construct scene representations…