相关论文: From Points to Clouds: Learning Robust Semantic Di…

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…

Some self-supervised cross-modal learning approaches have recently demonstrated the potential of image signals for enhancing point cloud representation. However, it remains a question on how to directly model cross-modal local and global…

Real-world environment-derived point clouds invariably exhibit noise across varying modalities and intensities. Hence, point cloud denoising (PCD) is essential as a preprocessing step to improve downstream task performance. Deep learning…

Nowadays, pre-training big models on large-scale datasets has become a crucial topic in deep learning. The pre-trained models with high representation ability and transferability achieve a great success and dominate many downstream tasks in…

The scale and quality of point cloud datasets constrain the advancement of point cloud learning. Recently, with the development of multi-modal learning, the incorporation of domain-agnostic prior knowledge from other modalities, such as…

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…

Pre-trained point cloud analysis models have shown promising advancements in various downstream tasks, yet their effectiveness is typically suffering from low-quality point cloud (i.e., noise and incompleteness), which is a common issue in…

Point cloud denoising aims to restore clean point clouds from raw observations corrupted by noise and outliers while preserving the fine-grained details. We present a novel deep learning-based denoising model, that incorporates normalizing…

Text-to-point-cloud (T2P) localization aims to infer precise spatial positions within 3D point cloud maps from natural language descriptions, reflecting how humans perceive and communicate spatial layouts through language. However, existing…

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…

Point cloud classification refers to the process of assigning semantic labels or categories to individual points within a point cloud data structure. Recent works have explored the extension of pre-trained CLIP to 3D recognition. In this…

Diffusion probabilistic models are traditionally used to generate colors at fixed pixel positions in 2D images. Building on this, we extend diffusion models to point cloud semantic segmentation, where point positions also remain fixed, and…

Point cloud segmentation is a fundamental task in 3D. Despite recent progress on point cloud segmentation with the power of deep networks, current deep learning methods based on the clean label assumptions may fail with noisy labels. Yet,…

We tackle the problem of 3D point cloud localization based on a few natural linguistic descriptions and introduce a novel neural network, Text2Loc, that fully interprets the semantic relationship between points and text. Text2Loc follows a…

Inferring missing regions from severely occluded point clouds is highly challenging. Especially for 3D shapes with rich geometry and structure details, inherent ambiguities of the unknown parts are existing. Existing approaches either learn…

In recent years, soft prompt learning methods have been proposed to fine-tune large-scale vision-language pre-trained models for various downstream tasks. These methods typically combine learnable textual tokens with class tokens as input…

Deep learning systems extensively use convolution operations to process input data. Though convolution is clearly defined for structured data such as 2D images or 3D volumes, this is not true for other data types such as sparse point…

Prompt learning is one of the most effective and trending ways to adapt powerful vision-language foundation models like CLIP to downstream datasets by tuning learnable prompt vectors with very few samples. However, although prompt learning…

Recent research has shown the effectiveness of mmWave radar sensing for object detection in low visibility environments, which makes it an ideal technique in autonomous navigation systems. In this paper, we introduce Radar to Point Cloud…

Image to point cloud global localization is crucial for robot navigation in GNSS-denied environments and has become increasingly important for multi-robot map fusion and urban asset management. The modality gap between images and point…