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

Inverse problems arise in a multitude of applications, where the goal is to recover a clean signal from noisy and possibly (non)linear observations. The difficulty of a reconstruction problem depends on multiple factors, such as the ground…

Reconstructing accurate implicit surface representations from point clouds remains a challenging task, particularly when data is captured using low-quality scanning devices. These point clouds often contain substantial noise, leading to…

Recent advances in generative modeling -- particularly diffusion models and flow matching -- have achieved remarkable success in synthesizing discrete data such as images and videos. However, adapting these models to physical applications…

We introduce a novel framework for multiway point cloud mosaicking (named Wednesday), designed to co-align sets of partially overlapping point clouds -- typically obtained from 3D scanners or moving RGB-D cameras -- into a unified…

We introduce BuildAnyPoint, a novel generative framework for structured 3D building reconstruction from point clouds with diverse distributions, such as those captured by airborne LiDAR and Structure-from-Motion. To recover artist-created…

Accurate 3D geometry acquisition is essential for a wide range of applications, such as computer graphics, autonomous driving, robotics, and augmented reality. However, raw point clouds acquired in real-world environments are often…

Out-of-distribution (OOD) detection is crucial for the reliable deployment of machine learning models in real-world scenarios, enabling the identification of unknown samples or objects. A prominent approach to enhance OOD detection…

Generative models have proven effective at modeling 3D shapes and their statistical variations. In this paper we investigate their application to point clouds, a 3D shape representation widely used in computer vision for which, however,…

Generalizable 3D object reconstruction from single-view RGB-D images remains a challenging task, particularly with real-world data. Current state-of-the-art methods develop Transformer-based implicit field learning, necessitating an…

Predicting pedestrian crossing intentions is crucial for the navigation of mobile robots and intelligent vehicles. Although recent deep learning-based models have shown significant success in forecasting intentions, few consider incomplete…

Dancing with music is always an essential human art form to express emotion. Due to the high temporal-spacial complexity, long-term 3D realist dance generation synchronized with music is challenging. Existing methods suffer from the…

The completion, extension, and generation of 3D semantic scenes are an interrelated set of capabilities that are useful for robotic navigation and exploration. Existing approaches seek to decouple these problems and solve them one-off.…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Multi-task networks can potentially improve performance and computational efficiency compared to single-task networks, facilitating online deployment. However, current multi-task architectures in point cloud perception combine multiple…

We present PointInfinity, an efficient family of point cloud diffusion models. Our core idea is to use a transformer-based architecture with a fixed-size, resolution-invariant latent representation. This enables efficient training with…

Existing learning-based point feature descriptors are usually task-agnostic, which pursue describing the individual 3D point clouds as accurate as possible. However, the matching task aims at describing the corresponding points consistently…

We present 3DiffTection, a state-of-the-art method for 3D object detection from single images, leveraging features from a 3D-aware diffusion model. Annotating large-scale image data for 3D detection is resource-intensive and time-consuming.…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

3D occupancy-based perception pipeline has significantly advanced autonomous driving by capturing detailed scene descriptions and demonstrating strong generalizability across various object categories and shapes. Current methods…