相关论文: Masked Clustering Prediction for Unsupervised Poin…

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…

Despite the success of transformers on various computer vision tasks, they suffer from excessive memory and computational cost. Some works present dynamic vision transformers to accelerate inference by pruning redundant tokens. A key to…

Multi-instance point cloud registration is the problem of estimating multiple poses of source point cloud instances within a target point cloud. Solving this problem is challenging since inlier correspondences of one instance constitute…

Current self-supervised learning (SSL) methods (e.g., SimCLR, DINO, VICReg,MOCOv3) target primarily on representations at instance level and do not generalize well to dense prediction tasks, such as object detection and segmentation.Towards…

We are interested in reconstructing the mesh representation of object surfaces from point clouds. Surface reconstruction is a prerequisite for downstream applications such as rendering, collision avoidance for planning, animation, etc.…

Open-vocabulary 3D scene understanding is pivotal for enhancing physical intelligence, as it enables embodied agents to interpret and interact dynamically within real-world environments. This paper introduces MPEC, a novel Masked…

We propose a new approach for 3D instance segmentation based on sparse convolution and point affinity prediction, which indicates the likelihood of two points belonging to the same instance. The proposed network, built upon submanifold…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…

Point cloud based 3D deep model has wide applications in many applications such as autonomous driving, house robot, and so on. Inspired by the recent prompt learning in natural language processing, this work proposes a novel Multi-view…

Multi-view projection methods have demonstrated promising performance on 3D understanding tasks like 3D classification and segmentation. However, it remains unclear how to combine such multi-view methods with the widely available 3D point…

The increased availability of massive point clouds coupled with their utility in a wide variety of applications such as robotics, shape synthesis, and self-driving cars has attracted increased attention from both industry and academia.…

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…

Although unsupervised feature learning has demonstrated its advantages to reducing the workload of data labeling and network design in many fields, existing unsupervised 3D learning methods still cannot offer a generic network for various…

Despite significant progress in 3D point cloud segmentation, existing methods primarily address specific tasks and depend on explicit instructions to identify targets, lacking the capability to infer and understand implicit user intentions…

Recognizing human actions from point cloud videos has attracted tremendous attention from both academia and industry due to its wide applications like automatic driving, robotics, and so on. However, current methods for point cloud action…

Vector quantization has emerged as a powerful tool in large-scale multimodal models, unifying heterogeneous representations through discrete token encoding. However, its effectiveness hinges on robust codebook design. Current…

Following the successes in the fields of vision and language, self-supervised pretraining via masked autoencoding of 3D point set data, or Masked Point Modeling (MPM), has achieved state-of-the-art accuracy in various downstream tasks.…

We tackle the problem of localizing 3D point cloud submaps using complex and diverse natural language descriptions, and present Text2Loc++, a novel neural network designed for effective cross-modal alignment between language and point…

Vision Transformers can achieve high accuracy and strong generalization across various contexts, but their practical applicability on real-world robotic systems is limited due to their quadratic attention complexity. Recent works have…

Deep learning with 3D data such as reconstructed point clouds and CAD models has received great research interests recently. However, the capability of using point clouds with convolutional neural network has been so far not fully explored.…