相关论文: Utonia: Toward One Encoder for All Point Clouds

We present Pelican-Unify 1.0, the first embodied foundation model trained according to the principle of unification. Pelican-Unify 1.0 uses a single VLM as a unified understanding module, mapping scenes, instructions, visual contexts, and…

Point clouds have become increasingly vital across various applications thanks to their ability to realistically depict 3D objects and scenes. Nevertheless, effectively compressing unstructured, high-precision point cloud data remains a…

Visual correspondence across image-to-image (2D-2D), image-to-point cloud (2D-3D), and point cloud-to-point cloud (3D-3D) geometric matching forms the foundation for numerous 3D vision tasks. Despite sharing a similar problem structure,…

Encoder transformer models compress information from all tokens in a sequence into a single [CLS] token to represent global context. This approach risks diluting fine-grained or hierarchical features, leading to information loss in…

Controllable 3D human avatars have found widespread applications in 3D games, the metaverse, and AR/VR scenarios. The conventional approach to creating such a 3D avatar requires a lengthy, intricate pipeline encompassing appearance…

Recent progress of semantic point clouds analysis is largely driven by synthetic data (e.g., the ModelNet and the ShapeNet), which are typically complete, well-aligned and noisy free. Therefore, representations of those ideal synthetic…

Pretraining 3D encoders by aligning with Contrastive Language Image Pretraining (CLIP) has emerged as a promising direction to learn generalizable representations for 3D scene understanding. In this paper, we propose UniScene3D, a…

Semantic pattern of an object point cloud is determined by its topological configuration of local geometries. Learning discriminative representations can be challenging due to large shape variations of point sets in local regions and…

Collaborative perception has recently gained significant attention in autonomous driving, improving perception quality by enabling the exchange of additional information among vehicles. However, deploying collaborative perception systems…

Strong evidence suggests that humans perceive the 3D world by parsing visual scenes and objects into part-whole hierarchies. Although deep neural networks have the capability of learning powerful multi-level representations, they can not…

This paper presents a unified approach to understanding dynamic scenes from casual videos. Large pretrained vision foundation models, such as vision-language, video depth prediction, motion tracking, and segmentation models, offer promising…

As a fundamental imaging task, All-in-One Image Restoration (AiOIR) aims to achieve image restoration caused by multiple degradation patterns via a single model with unified parameters. Although existing AiOIR approaches obtain promising…

Point cloud segmentation is a fundamental task in 3D vision that serves a wide range of applications. Although great progresses have been made these years, its practical usability is still limited by the availability of training data.…

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 dominant object detection approaches treat each dataset separately and fit towards a specific domain, which cannot adapt to other domains without extensive retraining. In this paper, we address the problem of designing a universal…

Pre-training on large-scale unlabeled datasets contribute to the model achieving powerful performance on 3D vision tasks, especially when annotations are limited. However, existing rendering-based self-supervised frameworks are…

Most real-world 3D measurements from depth sensors are incomplete, and to address this issue the point cloud completion task aims to predict the complete shapes of objects from partial observations. Previous works often adapt an…

LiDAR sensors are an integral part of modern autonomous vehicles as they provide an accurate, high-resolution 3D representation of the vehicle's surroundings. However, it is computationally difficult to make use of the ever-increasing…

A unified video and action model holds significant promise for robotics, where videos provide rich scene information for action prediction, and actions provide dynamics information for video prediction. However, effectively combining video…

Enabling Large Language Models (LLMs) to interact with 3D environments is challenging. Existing approaches extract point clouds either from ground truth (GT) geometry or 3D scenes reconstructed by auxiliary models. Text-image aligned 2D…