相关论文: EquiForm: Noise-Robust SE(3)-Equivariant Policy Le…

We propose a novel framework to learn 3D point cloud semantics from 2D multi-view image observations containing pose error. On the one hand, directly learning from the massive, unstructured and unordered 3D point cloud is computationally…

Recent investigations on rotation invariance for 3D point clouds have been devoted to devising rotation-invariant feature descriptors or learning canonical spaces where objects are semantically aligned. Examinations of learning frameworks…

3D point cloud is an efficient and flexible representation of 3D structures. Recently, neural networks operating on point clouds have shown superior performance on 3D understanding tasks such as shape classification and part segmentation.…

We present a new paradigm for rigid alignment between point clouds based on learnable weighted consensus which is robust to noise as well as the full spectrum of the rotation group. Current models, learnable or axiomatic, work well for…

This paper presents a novel self-supervised approach to reconstruct human shape and pose from noisy point cloud data. Relying on large amount of dataset with ground-truth annotations, recent learning-based approaches predict correspondences…

Recently, multi-modal masked autoencoders (MAE) has been introduced in 3D self-supervised learning, offering enhanced feature learning by leveraging both 2D and 3D data to capture richer cross-modal representations. However, these…

The manual annotation for large-scale point clouds costs a lot of time and is usually unavailable in harsh real-world scenarios. Inspired by the great success of the pre-training and fine-tuning paradigm in both vision and language tasks,…

Existing approaches for unsupervised point cloud pre-training are constrained to either scene-level or point/voxel-level instance discrimination. Scene-level methods tend to lose local details that are crucial for recognizing the road…

Equivariance is a nice property to have as it produces much more parameter efficient neural architectures and preserves the structure of the input through the feature mapping. Even though some combinations of transformations might never…

Point cloud is a collection of 3D coordinates that are discrete geometric samples of an object's 2D surfaces. Imperfection in the acquisition process means that point clouds are often corrupted with noise. Building on recent advances in…

As a promising scheme of self-supervised learning, masked autoencoding has significantly advanced natural language processing and computer vision. Inspired by this, we propose a neat scheme of masked autoencoders for point cloud…

Molecular 3D conformations play a key role in determining how molecules interact with other molecules or protein surfaces. Recent deep learning advancements have improved conformation prediction, but slow training speeds and difficulties in…

Augmentation-based self-supervised learning methods have shown remarkable success in self-supervised visual representation learning, excelling in learning invariant features but often neglecting equivariant ones. This limitation reduces the…

As two fundamental representation modalities of 3D objects, 3D point clouds and multi-view 2D images record shape information from different domains of geometric structures and visual appearances. In the current deep learning era,…

The scale diversity of point cloud data presents significant challenges in developing unified representation learning techniques for 3D vision. Currently, there are few unified 3D models, and no existing pre-training method is equally…

Point cloud registration is to estimate a transformation to align point clouds collected in different perspectives. In learning-based point cloud registration, a robust descriptor is vital for high-accuracy registration. However, most…

Learning-based point cloud registration methods can handle clean point clouds well, while it is still challenging to generalize to noisy, partial, and density-varying point clouds. To this end, we propose a novel point cloud registration…

In recent years, deep learning-based point cloud normal estimation has made great progress. However, existing methods mainly rely on the PCPNet dataset, leading to overfitting. In addition, the correlation between point clouds with…

3D point cloud interpretation is a challenging task due to the randomness and sparsity of the component points. Many of the recently proposed methods like PointNet and PointCNN have been focusing on learning shape descriptions from point…

Point cloud filtering is a fundamental 3D vision task, which aims to remove noise while recovering the underlying clean surfaces. State-of-the-art methods remove noise by moving noisy points along stochastic trajectories to the clean…