相关论文: Self-Supervised Cross-Modal Learning for Image-to-…

In recent years, semi-supervised learning has been widely explored and shows excellent data efficiency for 2D data. There is an emerging need to improve data efficiency for 3D tasks due to the scarcity of labeled 3D data. This paper…

We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm. Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise alignment and the globally consistent refinement. The…

Along with the advancements in artificial intelligence technologies, image-to-point-cloud registration (I2P) techniques have made significant strides. Nevertheless, the dimensional differences in the features of points cloud…

Self-supervised pre-training has achieved remarkable success in NLP and 2D vision. However, these advances have yet to translate to 3D data. Techniques like masked reconstruction face inherent challenges on unstructured point clouds, while…

Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…

3D contrastive representation learning has exhibited remarkable efficacy across various downstream tasks. However, existing contrastive learning paradigms based on cosine similarity fail to deeply explore the potential intra-modal…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

We present an image-conditioned point cloud completion approach that treats images as the primary geometric source rather than a secondary guide. To this end, we introduce an Image-to-Point (I2P) module that can reconstruct complete point…

In this paper we explore the recent topic of point cloud completion, guided by an auxiliary image. We show how it is possible to effectively combine the information from the two modalities in a localized latent space, thus avoiding the need…

Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception. A key difficulty lies in the modality gap between unstructured point clouds and…

Pre-training across 3D vision and language remains under development because of limited training data. Recent works attempt to transfer vision-language pre-training models to 3D vision. PointCLIP converts point cloud data to multi-view…

This paper introduces a novel approach named CrossVideo, which aims to enhance self-supervised cross-modal contrastive learning in the field of point cloud video understanding. Traditional supervised learning methods encounter limitations…

In this paper, we propose a novel 3D registration paradigm, Generative Point Cloud Registration, which bridges advanced 2D generative models with 3D matching tasks to enhance registration performance. Our key idea is to generate cross-view…

Introducing BERT into cross-modal settings raises difficulties in its optimization for handling multiple modalities. Both the BERT architecture and training objective need to be adapted to incorporate and model information from different…

Weakly supervised point cloud semantic segmentation methods that require 1\% or fewer labels, hoping to realize almost the same performance as fully supervised approaches, which recently, have attracted extensive research attention. A…

Robot localization using a built map is essential for a variety of tasks including accurate navigation and mobile manipulation. A popular approach to robot localization is based on image-to-point cloud registration, which combines…

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…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Cross-source point cloud registration, which aims to align point cloud data from different sensors, is a fundamental task in 3D vision. However, compared to the same-source point cloud registration, cross-source registration faces two core…

Large-scale vision 2D vision language models, such as CLIP can be aligned with a 3D encoder to learn generalizable (open-vocabulary) 3D vision models. However, current methods require supervised pre-training for such alignment, and the…