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

Instance segmentation on 3D point clouds is one of the most extensively researched areas toward the realization of autonomous cars and robots. Certain existing studies have split input point clouds into small regions such as 1m x 1m; one…

Recently, transformer-based methods have dominated 3D instance segmentation, where mask attention is commonly involved. Specifically, object queries are guided by the initial instance masks in the first cross-attention, and then iteratively…

Learning to generate 3D point clouds without 3D supervision is an important but challenging problem. Current solutions leverage various differentiable renderers to project the generated 3D point clouds onto a 2D image plane, and train deep…

Surface reconstruction from point clouds is vital for 3D computer vision. State-of-the-art methods leverage large datasets to first learn local context priors that are represented as neural network-based signed distance functions (SDFs)…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

Point cloud salient object detection has attracted the attention of researchers in recent years. Since existing works do not fully utilize the geometry context of 3D objects, blurry boundaries are generated when segmenting objects with…

This work introduces a new task of instance-incremental scene graph generation: Given a scene of the point cloud, representing it as a graph and automatically increasing novel instances. A graph denoting the object layout of the scene is…

This paper studies the 3D instance segmentation problem, which has a variety of real-world applications such as robotics and augmented reality. Since the surroundings of 3D objects are of high complexity, the separating of different objects…

We introduce a novel, training-free system for reconstructing, understanding, and rendering 3D indoor scenes from a sparse set of unposed RGB images. Unlike traditional radiance field approaches that require dense views and per-scene…

Processing 3D data efficiently has always been a challenge. Spatial operations on large-scale point clouds, stored as sparse data, require extra cost. Attracted by the success of transformers, researchers are using multi-head attention for…

To better address challenging issues of the irregularity and inhomogeneity inherently present in 3D point clouds, researchers have been shifting their focus from the design of hand-craft point feature towards the learning of 3D point…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

Self-supervised methods have been proven effective for learning deep representations of 3D point cloud data. Although recent methods in this domain often rely on random masking of inputs, the results of this approach can be improved. We…

Scene flow estimation is the task to predict the point-wise or pixel-wise 3D displacement vector between two consecutive frames of point clouds or images, which has important application in fields such as service robots and autonomous…

Recognising in what type of environment one is located is an important perception task. For instance, for a robot operating in indoors it is helpful to be aware whether it is in a kitchen, a hallway or a bedroom. Existing approaches attempt…

In recent years, the challenge of 3D shape analysis within point cloud data has gathered significant attention in computer vision. Addressing the complexities of effective 3D information representation and meaningful feature extraction for…

We introduce a 3D instance representation, termed instance kernels, where instances are represented by one-dimensional vectors that encode the semantic, positional, and shape information of 3D instances. We show that instance kernels enable…

Accurate 3D instance segmentation is crucial for high-quality scene understanding in the 3D vision domain. However, 3D instance segmentation based on 2D-to-3D lifting approaches struggle to produce precise instance-level segmentation, due…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…