相关论文: LitePT: Lighter Yet Stronger Point Transformer

Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…

Transformer, as an alternative to CNN, has been proven effective in many modalities (e.g., texts and images). For 3D point cloud transformers, existing efforts focus primarily on pushing their accuracy to the state-of-the-art level.…

For current object detectors, the scale of the receptive field of feature extraction operators usually increases layer by layer. Those operators are called scale-oriented operators in this paper, such as the convolution layer in CNN, and…

Transformer-based networks have achieved impressive performance in 3D point cloud understanding. However, most of them concentrate on aggregating local features, but neglect to directly model global dependencies, which results in a limited…

As a pioneering work exploring transformer architecture for 3D point cloud understanding, Point Transformer achieves impressive results on multiple highly competitive benchmarks. In this work, we analyze the limitations of the Point…

Point clouds data, as one kind of representation of 3D objects, are the most primitive output obtained by 3D sensors. Unlike 2D images, point clouds are disordered and unstructured. Hence it is not straightforward to apply classification…

Object detection in three-dimensional (3D) space attracts much interest from academia and industry since it is an essential task in AI-driven applications such as robotics, autonomous driving, and augmented reality. As the basic format of…

We present a novel lightweight convolutional neural network for point cloud analysis. In contrast to many current CNNs which increase receptive field by downsampling point cloud, our method directly operates on the entire point sets without…

With the rapid progress of multimodal foundation models and predictive pre-training, an important open question is how to equip 3D point clouds with a pre-training paradigm that is better aligned with next-token and next-embedding learning.…

Point clouds are a very efficient way to represent volumetric data in medical imaging. First, they do not occupy resources for empty spaces and therefore can avoid trade-offs between resolution and field-of-view for voxel-based 3D…

Extending the translation equivariance property of convolutional neural networks to larger symmetry groups has been shown to reduce sample complexity and enable more discriminative feature learning. Further, exploiting additional symmetries…

Features that are equivariant to a larger group of symmetries have been shown to be more discriminative and powerful in recent studies. However, higher-order equivariant features often come with an exponentially-growing computational cost.…

We introduce PointConvFormer, a novel building block for point cloud based deep network architectures. Inspired by generalization theory, PointConvFormer combines ideas from point convolution, where filter weights are only based on relative…

In this paper, we present Position-to-Structure Attention Transformers (PS-Former), a Transformer-based algorithm for 3D point cloud recognition. PS-Former deals with the challenge in 3D point cloud representation where points are not…

3D object detection from LiDAR sensor data is an important topic in the context of autonomous cars and drones. In this paper, we present the results of experiments on the impact of backbone selection of a deep convolutional neural network…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

We present a network architecture for processing point clouds that directly operates on a collection of points represented as a sparse set of samples in a high-dimensional lattice. Naively applying convolutions on this lattice scales…

Transformer with self-attention has led to the revolutionizing of natural language processing field, and recently inspires the emergence of Transformer-style architecture design with competitive results in numerous computer vision tasks.…

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…

Recent advancements in Diffusion Transformer (DiT) models have significantly improved 3D point cloud generation. However, existing methods primarily focus on local feature extraction while overlooking global topological information, such as…