相关论文: LitePT: Lighter Yet Stronger Point Transformer

Point clouds are often the default choice for many applications as they exhibit more flexibility and efficiency than volumetric data. Nevertheless, their unorganized nature -- points are stored in an unordered way -- makes them less suited…

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

Despite the remarkable success of deep learning, an optimal convolution operation on point clouds remains elusive owing to their irregular data structure. Existing methods mainly focus on designing an effective continuous kernel function…

Point clouds are a fundamental 3D representation in computer vision, enabling a wide range of perception tasks. However, real-world point clouds often suffer from degradations such as incompleteness, noise, outliers, and irregular density,…

Transformers have been at the heart of the Natural Language Processing (NLP) and Computer Vision (CV) revolutions. The significant success in NLP and CV inspired exploring the use of Transformers in point cloud processing. However, how do…

Point-based representations have consistently played a vital role in geometric data structures. Most point cloud learning and processing methods typically leverage the unordered and unconstrained nature to represent the underlying geometry…

Enabling Large Language Models (LLMs) to comprehend the 3D physical world remains a significant challenge. Due to the lack of large-scale 3D-text pair datasets, the success of LLMs has yet to be replicated in 3D understanding. In this…

3D single object tracking is a key issue for robotics. In this paper, we propose a transformer module called Point-Track-Transformer (PTT) for point cloud-based 3D single object tracking. PTT module contains three blocks for feature…

We propose a precise and efficient normal estimation method that can deal with noise and nonuniform density for unstructured 3D point clouds. Unlike existing approaches that directly take patches and ignore the local neighborhood…

LiDAR-based 3D object detectors often struggle to detect far-field objects due to the sparsity of point clouds at long ranges, which limits the availability of reliable geometric cues. To address this, prior approaches augment LiDAR data…

We present Point-BERT, a new paradigm for learning Transformers to generalize the concept of BERT to 3D point cloud. Inspired by BERT, we devise a Masked Point Modeling (MPM) task to pre-train point cloud Transformers. Specifically, we…

In recent years, Convolutional Neural Networks (CNN) have proven to be efficient analysis tools for processing point clouds, e.g., for reconstruction, segmentation and classification. In this paper, we focus on the classification of edges…

Vision Transformer (ViT) has demonstrated significant potential in various vision tasks due to its strong ability in modelling long-range dependencies. However, such success is largely fueled by training on massive samples. In real…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…

Point cloud processing methods leverage local and global point features %at the feature level to cater to downstream tasks, yet they often overlook the task-level context inherent in point clouds during the encoding stage. We argue that…

Modern depth sensors such as LiDAR operate by sweeping laser-beams across the scene, resulting in a point cloud with notable 1D curve-like structures. In this work, we introduce a new point cloud processing scheme and backbone, called…

Learning-based 3D reconstruction using implicit neural representations has shown promising progress not only at the object level but also in more complicated scenes. In this paper, we propose Dynamic Plane Convolutional Occupancy Networks,…

Convolution on 3D point clouds is widely researched yet far from perfect in geometric deep learning. The traditional wisdom of convolution characterises feature correspondences indistinguishably among 3D points, arising an intrinsic…

Point cloud, an efficient 3D object representation, has become popular with the development of depth sensing and 3D laser scanning techniques. It has attracted attention in various applications such as 3D tele-presence, navigation for…

Dense point cloud generation from a sparse or incomplete point cloud is a crucial and challenging problem in 3D computer vision and computer graphics. So far, the existing methods are either computationally too expensive, suffer from…