相关论文: Point-RTD: Replaced Token Denoising for Pretrainin…

The ever-increasing 3D application makes the point cloud compression unprecedentedly important and needed. In this paper, we propose a patch-based compression process using deep learning, focusing on the lossy point cloud geometry…

Point cloud registration is an important task in robotics and autonomous driving to estimate the ego-motion of the vehicle. Recent advances following the coarse-to-fine manner show promising potential in point cloud registration. However,…

Pre-training by numerous image data has become de-facto for robust 2D representations. In contrast, due to the expensive data acquisition and annotation, a paucity of large-scale 3D datasets severely hinders the learning for high-quality 3D…

3D computer vision models are commonly used in security-critical applications such as autonomous driving and surgical robotics. Emerging concerns over the robustness of these models against real-world deformations must be addressed…

Recent advances in point cloud In-Context Learning (ICL) have demonstrated strong multitask capabilities. Existing approaches typically adopt a Masked Point Modeling (MPM)-based paradigm for point cloud ICL. However, MPM-based methods…

The use of self-supervised pre-training has emerged as a promising approach to enhance the performance of many different visual tasks. In this context, recent approaches have employed the Masked Image Modeling paradigm, which pre-trains a…

We propose a Point-Voxel DeConvolution (PVDeConv) module for 3D data autoencoder. To demonstrate its efficiency we learn to synthesize high-resolution point clouds of 10k points that densely describe the underlying geometry of Computer…

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…

High-quality point cloud data is a critical foundation for tasks such as autonomous driving and 3D reconstruction. However, LiDAR-based point cloud acquisition is often affected by various disturbances, resulting in a large number of noise…

Point cloud filtering is a fundamental problem in geometry modeling and processing. Despite of significant advancement in recent years, the existing methods still suffer from two issues: 1) they are either designed without preserving sharp…

3D reconstruction from a single image is a key problem in multiple applications ranging from robotic manipulation to augmented reality. Prior methods have tackled this problem through generative models which predict 3D reconstructions as…

Point cloud compression plays a crucial role in reducing the huge cost of data storage and transmission. However, distortions can be introduced into the decompressed point clouds due to quantization. In this paper, we propose a novel…

The growing size of point clouds enlarges consumptions of storage, transmission, and computation of 3D scenes. Raw data is redundant, noisy, and non-uniform. Therefore, simplifying point clouds for achieving compact, clean, and uniform…

Recovering high quality surfaces from noisy point clouds, known as point cloud denoising, is a fundamental yet challenging problem in geometry processing. Most of the existing methods either directly denoise the noisy input or filter raw…

In recent years, a ton of research has been conducted on real image denoising tasks. However, the efforts are more focused on improving real image denoising through creating a better network architecture. We explore a different direction…

Point Transformers are near state-of-the-art models for classification, segmentation, and detection tasks on Point Cloud data. They utilize a self attention based mechanism to model large range spatial dependencies between multiple point…

Point cloud denoising task aims to recover the clean point cloud from the scanned data coupled with different levels or patterns of noise. The recent state-of-the-art methods often train deep neural networks to update the point locations…

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…

Although widely adopted, existing approaches for fine-tuning pre-trained language models have been shown to be unstable across hyper-parameter settings, motivating recent work on trust region methods. In this paper, we present a simplified…

Recently,vision-based robotic manipulation has garnered significant attention and witnessed substantial advancements. 2D image-based and 3D point cloud-based policy learning represent two predominant paradigms in the field, with recent…