相关论文: Towards Foundation Models for 3D Scene Understandi…

Image instance segmentation is a fundamental research topic in autonomous driving, which is crucial for scene understanding and road safety. Advanced learning-based approaches often rely on the costly 2D mask annotations for training. In…

Though a number of point cloud learning methods have been proposed to handle unordered points, most of them are supervised and require labels for training. By contrast, unsupervised learning of point cloud data has received much less…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Large-scale datasets with point-wise semantic and instance labels are crucial to 3D instance segmentation but also expensive. To leverage unlabeled data, previous semi-supervised 3D instance segmentation approaches have explored…

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,…

To date, various 3D scene understanding tasks still lack practical and generalizable pre-trained models, primarily due to the intricate nature of 3D scene understanding tasks and their immense variations introduced by camera views,…

Self-supervised learning (SSL) on 3D point clouds has the potential to learn feature representations that can transfer to diverse sensors and multiple downstream perception tasks. However, recent SSL approaches fail to define pretext tasks…

Multi-instance point cloud registration estimates the poses of multiple instances of a model point cloud in a scene point cloud. Extracting accurate point correspondence is to the center of the problem. Existing approaches usually treat the…

Depth completion plays a vital role in 3D perception systems, especially in scenarios where sparse depth data must be densified for tasks such as autonomous driving, robotics, and augmented reality. While many existing approaches rely on…

Point cloud processing and 3D shape understanding are very challenging tasks for which deep learning techniques have demonstrated great potentials. Still further progresses are essential to allow artificial intelligent agents to interact…

Classification and segmentation of 3D point clouds are important tasks in computer vision. Because of the irregular nature of point clouds, most of the existing methods convert point clouds into regular 3D voxel grids before they are used…

In this paper, we explore the mask representation in instance segmentation with Point-of-Interest (PoI) features. Differentiating multiple potential instances within a single PoI feature is challenging because learning a high-dimensional…

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…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…

3D semantic scene understanding tasks have achieved great success with the emergence of deep learning, but often require a huge amount of manually annotated training data. To alleviate the annotation cost, we propose the first…

Recently most popular tracking frameworks focus on 2D image sequences. They seldom track the 3D object in point clouds. In this paper, we propose PointIT, a fast, simple tracking method based on 3D on-road instance segmentation. Firstly, we…

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…

Learning on 3D scene-based point cloud has received extensive attention as its promising application in many fields, and well-annotated and multisource datasets can catalyze the development of those data-driven approaches. To facilitate the…

We introduce Open3DIS, a novel solution designed to tackle the problem of Open-Vocabulary Instance Segmentation within 3D scenes. Objects within 3D environments exhibit diverse shapes, scales, and colors, making precise instance-level…

The point cloud representation of an object can have a large geometric variation in view of inconsistent data acquisition procedure, which thus leads to domain discrepancy due to diverse and uncontrollable shape representation cross…