相关论文: OCCDiff: Occupancy Diffusion Model for High-Fideli…

Diffusion-based models, widely used in text-to-image generation, have proven effective in 2D representation learning. Recently, this framework has been extended to 3D self-supervised learning by constructing a conditional point generator…

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D…

3D occupancy prediction (3DOcc) is a rapidly rising and challenging perception task in the field of autonomous driving. Existing 3D occupancy networks (OccNets) are both computationally heavy and label-hungry. In terms of model complexity,…

Applications of diffusion models for visual tasks have been quite noteworthy. This paper targets making classification models more robust to occlusions for the task of object recognition by proposing a pipeline that utilizes a frozen…

Deep learning based 3D reconstruction of single view 2D image is becoming increasingly popular due to their wide range of real-world applications, but this task is inherently challenging because of the partial observability of an object…

While 3D object detection in LiDAR point clouds is well-established in academia and industry, the explainability of these models is a largely unexplored field. In this paper, we propose a method to generate attribution maps for the detected…

To realize low-latency spatial transmission system for immersive telepresence, there are two major problems: capturing dynamic 3D scene densely and processing them in real time. LiDAR sensors capture 3D in real time, but produce sparce…

The stochastic formation of defects during Laser Powder Bed Fusion (L-PBF) negatively impacts its adoption for high-precision use cases. Optical monitoring techniques can be used to identify defects based on layer-wise imaging, but these…

Accurate perception of the dynamic environment is a fundamental task for autonomous driving and robot systems. This paper introduces Let Occ Flow, the first self-supervised work for joint 3D occupancy and occupancy flow prediction using…

The search for refining 3D LiDAR data has attracted growing interest motivated by recent techniques such as supervised learning or generative model-based methods. Existing approaches have shown the possibilities for using diffusion models…

Denoising diffusion models show remarkable performances in generative tasks, and their potential applications in perception tasks are gaining interest. In this paper, we introduce a novel framework named DiffRef3D which adopts the diffusion…

The burgeoning field of camouflaged object detection (COD) seeks to identify objects that blend into their surroundings. Despite the impressive performance of recent models, we have identified a limitation in their robustness, where…

Stable diffusion networks have emerged as a groundbreaking development for their ability to produce realistic and detailed visual content. This characteristic renders them ideal decoders, capable of producing high-quality and aesthetically…

Autonomous navigation and exploration in unmapped environments remains a significant challenge in robotics due to the difficulty robots face in making commonsense inference of unobserved geometries. Recent advancements have demonstrated…

Point clouds obtained with 3D scanners or by image-based reconstruction techniques are often corrupted with significant amount of noise and outliers. Traditional methods for point cloud denoising largely rely on local surface fitting (e.g.,…

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…

Recent diffusion models have demonstrated remarkable performance in both 3D scene generation and perception tasks. Nevertheless, existing methods typically separate these two processes, acting as a data augmenter to generate synthetic data…

3D urban reconstruction of buildings from remotely sensed imagery has drawn significant attention during the past two decades. While aerial imagery and LiDAR provide higher resolution, satellite imagery is cheaper and more efficient to…

Diffusion models currently achieve state-of-the-art performance for both conditional and unconditional image generation. However, so far, image diffusion models do not support tasks required for 3D understanding, such as view-consistent 3D…

Recently, environment reconstruction (ER) in integrated sensing and communication (ISAC) systems has emerged as a promising approach for achieving high-resolution environmental perception. However, the initial results obtained from ISAC…