相关论文: Adaptive Augmentation-Aware Latent Learning for Ro…

Recent advances in autonomous driving have underscored the importance of accurate 3D object detection, with LiDAR playing a central role due to its robustness under diverse visibility conditions. However, different vehicle platforms often…

We study an unsupervised domain adaptation problem for the semantic labeling of 3D point clouds, with a particular focus on domain discrepancies induced by different LiDAR sensors. Based on the observation that sparse 3D point clouds are…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

We present a novel attention-based mechanism to learn enhanced point features for point cloud processing tasks, e.g., classification and segmentation. Unlike prior works, which were trained to optimize the weights of a pre-selected set of…

Camera and LiDAR serve as informative sensors for accurate and robust autonomous driving systems. However, these sensors often exhibit heterogeneous natures, resulting in distributional modality gaps that present significant challenges for…

We present Lepard, a Learning based approach for partial point cloud matching in rigid and deformable scenes. The key characteristics are the following techniques that exploit 3D positional knowledge for point cloud matching: 1) An…

The ambiguity at the boundaries of different semantic classes in point cloud semantic segmentation often leads to incorrect decisions in intelligent perception systems, such as autonomous driving. Hence, accurate delineation of the…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

Addressing performance degradation in 3D LiDAR semantic segmentation due to domain shifts (e.g., sensor type, geographical location) is crucial for autonomous systems, yet manual annotation of target data is prohibitive. This study…

The recent surge in 3D data acquisition has spurred the development of geometric deep learning models for point cloud processing, boosted by the remarkable success of transformers in natural language processing. While point cloud…

Learning to reliably perceive and understand the scene is an integral enabler for robots to operate in the real-world. This problem is inherently challenging due to the multitude of object types as well as appearance changes caused by…

Parameter-efficient fine-tuning strategies for foundation models in 1D textual and 2D visual analysis have demonstrated remarkable efficacy. However, due to the scarcity of point cloud data, pre-training large 3D models remains a…

LiDAR point cloud analysis is a core task for 3D computer vision, especially for autonomous driving. However, due to the severe sparsity and noise interference in the single sweep LiDAR point cloud, the accurate semantic segmentation is…

LiDAR-generated point clouds are crucial for perceiving outdoor environments. The segmentation of point clouds is also essential for many applications. Previous research has focused on using self-attention and convolution (local attention)…

Semantic segmentation is one of the most fundamental problems in computer vision with significant impact on a wide variety of applications. Adversarial learning is shown to be an effective approach for improving semantic segmentation…

The vulnerability of 3D point cloud analysis to unpredictable rotations poses an open yet challenging problem: orientation-aware 3D domain generalization. Cross-domain robustness and adaptability of 3D representations are crucial but not…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

Real-world machine learning applications often struggle with two major challenges: distribution shift and label noise. Models tend to overfit by focusing on redundant and uninformative features in the training data, which makes it hard for…

Despite the increasing popularity of LiDAR sensors, perception algorithms using 3D LiDAR data struggle with the 'sensor-bias problem'. Specifically, the performance of perception algorithms significantly drops when an unseen specification…

Building a robust perception module is crucial for visuomotor policy learning. While recent methods incorporate pre-trained 2D foundation models into robotic perception modules to leverage their strong semantic understanding, they struggle…