相关论文: Invaria: Learning Scale and Density Invariance in …

Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…

Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…

At the core of self-supervised learning for vision is the idea of learning invariant or equivariant representations with respect to a set of data transformations. This approach, however, introduces strong inductive biases, which can render…

In autonomous driving, 3D object detection is essential for accurately identifying and tracking objects. Despite the continuous development of various technologies for this task, a significant drawback is observed in most of them-they…

Current foundation models for 3D shapes excel at global tasks (retrieval, classification) but transfer poorly to local part-level reasoning. Recent approaches leverage vision and language foundation models to directly solve dense tasks…

Recent years have witnessed the emergence and increasing popularity of 3D medical imaging techniques with the development of 3D sensors and technology. However, achieving geometric invariance in the processing of 3D medical images is…

As a popular geometric representation, point clouds have attracted much attention in 3D vision, leading to many applications in autonomous driving and robotics. One important yet unsolved issue for learning on point cloud is that point…

Unsupervised domain adaptation (UDA) in 3D segmentation tasks presents a formidable challenge, primarily stemming from the sparse and unordered nature of point cloud data. Especially for LiDAR point clouds, the domain discrepancy becomes…

Point cloud compression has garnered significant interest in computer vision. However, existing algorithms primarily cater to human vision, while most point cloud data is utilized for machine vision tasks. To address this, we propose a…

3D object detection is an essential vision technique for various robotic systems, such as augmented reality and domestic robots. Transformers as versatile network architectures have recently seen great success in 3D point cloud object…

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…

This paper concerns the research problem of point cloud registration to find the rigid transformation to optimally align the source point set with the target one. Learning robust point cloud registration models with deep neural networks has…

Recent development of 3D sensors allows the acquisition of extremely dense 3D point clouds of large-scale scenes. The main challenge of processing such large point clouds remains in the size of the data, which induce expensive computational…

Recent advancements in point cloud compression have primarily emphasized geometry compression while comparatively fewer efforts have been dedicated to attribute compression. This study introduces an end-to-end learned dynamic lossy…

Existing learning-based methods for point cloud rendering adopt various 3D representations and feature querying mechanisms to alleviate the sparsity problem of point clouds. However, artifacts still appear in rendered images, due to the…

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…

Due to the density inconsistency and distribution difference between cross-source point clouds, previous methods fail in cross-source point cloud registration. We propose a density-robust feature extraction and matching scheme to achieve…

The feature maps of vision encoders are fundamental to myriad modern AI tasks, ranging from core perception algorithms (e.g. semantic segmentation, object detection, depth perception, etc.) to modern multimodal understanding in…

As 3D scanning devices and depth sensors advance, dynamic point clouds have attracted increasing attention as a format for 3D objects in motion, with applications in various fields such as immersive telepresence, navigation for autonomous…

Knowledge of 3D properties of objects is a necessity in order to build effective computer vision systems. However, lack of large scale 3D datasets can be a major constraint for data-driven approaches in learning such properties. We consider…