相关论文: Masked Clustering Prediction for Unsupervised Poin…

Most existing self-supervised learning (SSL) approaches for 3D point clouds are dominated by generative methods based on Masked Autoencoders (MAE). However, these generative methods have been proven to struggle to capture high-level…

This paper proposes a scalable and straightforward pre-training paradigm for efficient visual conceptual representation called occluded image contrastive learning (OCL). Our OCL approach is simple: we randomly mask patches to generate…

3D referring segmentation is an emerging and challenging vision-language task that aims to segment the object described by a natural language expression in a point cloud scene. The key challenge behind this task is vision-language feature…

Self-supervised representation learning has shown significant improvement in Natural Language Processing and 2D Computer Vision. However, existing methods face difficulties in representing 3D data because of its unordered and uneven…

Perceiving the environment via cameras is crucial for Reinforcement Learning (RL) in robotics. While images are a convenient form of representation, they often complicate extracting important geometric details, especially with varying…

Our MATE is the first Test-Time-Training (TTT) method designed for 3D data, which makes deep networks trained for point cloud classification robust to distribution shifts occurring in test data. Like existing TTT methods from the 2D image…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

We present CpT: Convolutional point Transformer - a novel deep learning architecture for dealing with the unstructured nature of 3D point cloud data. CpT is an improvement over existing attention-based Convolutions Neural Networks as well…

In contrast to extensive studies on general vision, pre-training for scalable visual autonomous driving remains seldom explored. Visual autonomous driving applications require features encompassing semantics, 3D geometry, and temporal…

Recent advances in self-supervised learning (SSL) for point clouds have substantially improved 3D scene understanding without human annotations. Existing approaches emphasize semantic awareness by enforcing feature consistency across…

Transfer learning has long been a key factor in the advancement of many fields including 2D image analysis. Unfortunately, its applicability in 3D data processing has been relatively limited. While several approaches for point cloud…

The task of unsupervised semantic segmentation aims to cluster pixels into semantically meaningful groups. Specifically, pixels assigned to the same cluster should share high-level semantic properties like their object or part category.…

Point clouds captured by scanning devices are often incomplete due to occlusion. To overcome this limitation, point cloud completion methods have been developed to predict the complete shape of an object based on its partial input. These…

Vision-Language-Action (VLA) models excel at robotic tasks by leveraging large-scale 2D vision-language pretraining, but their reliance on RGB images limits spatial reasoning critical for real-world interaction. Retraining these models with…

Point clouds analysis has grasped researchers' eyes in recent years, while 3D semantic segmentation remains a problem. Most deep point clouds models directly conduct learning on 3D point clouds, which will suffer from the severe sparsity…

While deep learning-based methods have demonstrated outstanding results in numerous domains, some important functionalities are missing. Resolution scalability is one of them. In this work, we introduce a novel architecture, dubbed…

Point cloud compression has garnered significant interest in computer vision. However, existing algorithms primarily cater to human vision, while most point cloud data is utilized for machine vision tasks. To address this, we propose a…

Masked autoencoder has been widely explored in point cloud self-supervised learning, whereby the point cloud is generally divided into visible and masked parts. These methods typically include an encoder accepting visible patches…

The pre-trained point cloud model based on Masked Point Modeling (MPM) has exhibited substantial improvements across various tasks. However, two drawbacks hinder their practical application. Firstly, the positional embedding of masked…

Deeper Vision Transformers (ViTs) are more challenging to train. We expose a degradation problem in deeper layers of ViT when using masked image modeling (MIM) for pre-training. To ease the training of deeper ViTs, we introduce a…