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

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,…

We present a new versatile building block for deep point cloud processing architectures that is equally suited for diverse tasks. This building block combines the ideas of spatial transformers and multi-view convolutional networks with the…

Neural operators have become an effective framework for learning mappings between function spaces, yet most existing architectures realize operators within a single representational domain, such as physical, spectral, or latent space. In…

Sequential scientific data span many resolutions and domains, and unifying them into a common representation is a key step toward developing foundation models for the sciences. Astronomical spectra exemplify this challenge: massive surveys…

Thanks to its precise spatial referencing, 3D point cloud visual grounding is essential for deep understanding and dynamic interaction in 3D environments, encompassing 3D Referring Expression Comprehension (3DREC) and Segmentation (3DRES).…

Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

We present a new permutation-invariant network for 3D point cloud processing. Our network is composed of a recurrent set encoder and a convolutional feature aggregator. Given an unordered point set, the encoder firstly partitions its…

Recent advances in 3D-native generative models have accelerated asset creation for games, film, and design. However, most methods still rely primarily on image or text conditioning and lack fine-grained, cross-modal controls, which limits…

In this paper, we propose a novel translation model, UniTranslator, for transforming representations between visually distinct domains under conditions of limited training data and significant visual differences. The main idea behind our…

Existing diffusion-based 3D scene generation methods primarily operate in 2D image/video latent spaces, which makes maintaining cross-view appearance and geometric consistency inherently challenging. To bridge this gap, we present OneWorld,…

Large vision-language models exhibit inherent capabilities to handle diverse visual perception tasks. In this paper, we introduce VisionReasoner, a unified framework capable of reasoning and solving multiple visual perception tasks within a…

As point cloud data increases in prevalence in a variety of applications, the ability to detect out-of-distribution (OOD) point cloud objects becomes critical for ensuring model safety and reliability. However, this problem remains…

Given the rapid development of 3D scanners, point clouds are becoming popular in AI-driven machines. However, point cloud data is inherently sparse and irregular, causing significant difficulties for machine perception. In this work, we…

Masked autoencoding has achieved great success for self-supervised learning in the image and language domains. However, mask based pretraining has yet to show benefits for point cloud understanding, likely due to standard backbones like…

Acquisition and processing of point clouds (PCs) is a crucial enabler for many emerging applications reliant on 3D spatial data, such as robot navigation, autonomous vehicles, and augmented reality. In most scenarios, PCs acquired by remote…

The field of 4D point cloud understanding is rapidly developing with the goal of analyzing dynamic 3D point cloud sequences. However, it remains a challenging task due to the sparsity and lack of texture in point clouds. Moreover, the…

The past few years have witnessed the great success and prevalence of self-supervised representation learning within the language and 2D vision communities. However, such advancements have not been fully migrated to the field of 3D point…

Multi-task networks can potentially improve performance and computational efficiency compared to single-task networks, facilitating online deployment. However, current multi-task architectures in point cloud perception combine multiple…

We present a system for multi-level scene awareness for robotic manipulation. Given a sequence of camera-in-hand RGB images, the system calculates three types of information: 1) a point cloud representation of all the surfaces in the scene,…