相关论文: Back to Point: Exploring Point-Language Models for…

We propose Point2Act, which directly retrieves the 3D action point relevant to a contextually described task, leveraging Multimodal Large Language Models (MLLMs). Foundation models opened the possibility for generalist robots that can…

Being able to reverse engineer from point cloud data to obtain 3D models is important in modeling. As our main contribution, we present a new method to obtain a tensor product B-spline representation from point cloud data by fitting…

Point cloud registration is a key task in many computational fields. Previous correspondence matching based methods require the inputs to have distinctive geometric structures to fit a 3D rigid transformation according to point-wise sparse…

Zero-shot 3D part segmentation is a challenging and fundamental task. In this work, we propose a novel pipeline, ZeroPS, which achieves high-quality knowledge transfer from 2D pretrained foundation models (FMs), SAM and GLIP, to 3D object…

The 3D point cloud (3DPC) has significantly evolved and benefited from the advance of deep learning (DL). However, the latter faces various issues, including the lack of data or annotated data, the existence of a significant gap between…

With the rapid progress of deep convolutional neural networks, in almost all robotic applications, the availability of 3D point clouds improves the accuracy of 3D semantic segmentation methods. Rendering of these irregular, unstructured,…

Recent advances have demonstrated that Language Vision Models (LVMs) surpass the existing State-of-the-Art (SOTA) in two-dimensional (2D) computer vision tasks, motivating attempts to apply LVMs to three-dimensional (3D) data. While LVMs…

We introduce OpenShape, a method for learning multi-modal joint representations of text, image, and point clouds. We adopt the commonly used multi-modal contrastive learning framework for representation alignment, but with a specific focus…

Recent research has shown the effectiveness of mmWave radar sensing for object detection in low visibility environments, which makes it an ideal technique in autonomous navigation systems. In this paper, we introduce Radar to Point Cloud…

Contrastive Language-Image Pre-training, benefiting from large-scale unlabeled text-image pairs, has demonstrated great performance in open-world vision understanding tasks. However, due to the limited Text-3D data pairs, adapting the…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

Recent research has shown that mmWave radar sensing is effective for object detection in low visibility environments, which makes it an ideal technique in autonomous navigation systems such as autonomous vehicles. However, due to the…

Recent advancements in large-scale visual-language pre-trained models have led to significant progress in zero-/few-shot anomaly detection within natural image domains. However, the substantial domain divergence between natural and medical…

Vision-language models have recently shown strong generalization in zero-shot anomaly detection (ZSAD), enabling the detection of unseen anomalies without task-specific supervision. However, existing approaches typically rely on fixed…

With the widespread adoption of cloud services, especially the extensive deployment of plenty of Web applications, it is important and challenging to detect anomalies from the packet payload. For example, the anomalies in the packet payload…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Although self-supervised 3D anomaly detection assumes that acquiring high-precision point clouds is computationally expensive, in real manufacturing scenarios it is often feasible to collect a limited number of anomalous samples. Therefore,…

Identifying defects and anomalies in industrial products is a critical quality control task. Traditional manual inspection methods are slow, subjective, and error-prone. In this work, we propose a novel zero-shot training-free approach for…

Vision-Language-Action (VLA) models excel at robotic tasks by leveraging large-scale 2D vision-language pretraining, but their reliance on RGB images limits spatial reasoning critical for real-world interaction. Retraining these models with…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…