3D 视觉

Send Less, Perceive More: Masked Quantized Point Cloud Communication for Loss-Tolerant Collaborative Perception

少传多感知：基于掩码量化点云通信的容忍损失协同感知

Sheng Xu, Enshu Wang, Hongfei Xue, Jian Teng, Bingyi Liu, Yi Zhu, Pu Wang, Libing Wu, Chunming Qiao

专题命中 点云 ：point cloud(title)；分类 cs.CV

AI总结 本文提出QPoint2Comm框架，通过量化点云索引减少带宽消耗，提升3D信息精度，并采用掩码训练策略增强抗丢包能力，实验表明其在准确率、通信效率和抗丢包性能上均达新高。

D-SLAMSpoof: An Environment-Agnostic LiDAR Spoofing Attack using Dynamic Point Cloud Injection

D-SLAMSpoof：一种基于动态点云注入的环境无关激光雷达欺骗攻击

Rokuto Nagata, Kenji Koide, Kazuma Ikeda, Ozora Sako, Kentaro Yoshioka

专题命中 点云 ：point cloud(title)；分类 cs.RO

AI总结 D-SLAMSpoof是一种通过动态点云注入实现的环境无关激光雷达欺骗攻击，利用扫描匹配原理提升攻击成功率，并提出ISD-SLAM作为仅依赖惯性信号的防御方法，有效缓解位置漂移问题。

Are Dense Labels Always Necessary for 3D Object Detection from Point Cloud?

密集标签是否总是必要于点云中的3D物体检测？

Chenqiang Gao, Chuandong Liu, Jun Shu, Fangcen Liu, Jiang Liu, Luyu Yang, Xinbo Gao, Deyu Meng

机构 * School of Intelligent Systems Engineering, the Shenzhen Campus of Sun Yatsen University（南方科技大学深圳校区智能系统工程学院） ； School of Computer Science, Wuhan University（武汉大学计算机学院） ； School of Mathematics and Statistics and Ministry of Education Key Lab of Intelligent Networks and Network Security, Xi’an Jiaotong University（西安交通大学数学与统计学系和教育部智能网络与网络安全重点实验室） ； School of Communication and Information Engineering, Chongqing University of Posts and Telecommunications（重庆邮电大学通信与信息工程学院） ； Meta ； University of Maryland（美国马里兰大学） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.CV

AI总结 本文提出SS3D++方法，通过稀疏注释减少标注成本，在KITTI和Waymo数据集上实现性能媲美或超越全监督方法。

Comments update

Towards Streaming LiDAR Object Detection with Point Clouds as Egocentric Sequences

面向点云作为自车序列的流式LiDAR目标检测

Mellon M. Zhang, Glen Chou, Saibal Mukhopadhyay

专题命中 点云 ：point cloud(title)；分类 cs.CV

AI总结 PFCF提出了一种混合检测器，结合极坐标处理和笛卡尔推理，实现低延迟高精度的LiDAR目标检测。

Comments Accepted to WACV 2026

Object Pose Distribution Estimation for Determining Revolution and Reflection Uncertainty in Point Clouds

点云中确定旋转和反射不确定性时的物体姿态分布估计

Frederik Hagelskjær, Dimitrios Arapis, Steffen Madsen, Thorbjørn Mosekjær Iversen

机构 * SDU Robotics（SDU机器人研究所） ； The Mærsk Mc-Kinney Møller Institute（马士基麦金尼莫勒研究所） ； University of Southern Denmark（南部丹麦大学） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.CV

AI总结 本文提出了一种基于深度学习的点云姿态分布估计方法，无需RGB输入，用于评估旋转和反射的不确定性。

Comments 8 pages, 8 figures, 5 tables, ICCR 2025

Understanding Dynamic Scenes in Ego Centric 4D Point Clouds

Junsheng Huang, Shengyu Hao, Bocheng Hu, Hongwei Wang, Gaoang Wang

专题命中 点云 ：point cloud(title)；分类 cs.CV

Comments Accepted as a poster to AAAI 2026; will be published in the proceedings

Fast Staircase Detection and Estimation using 3D Point Clouds with Multi-detection Merging for Heterogeneous Robots

Prasanna Sriganesh, Namya Bagree, Bhaskar Vundurthy, Matthew Travers

专题命中 点云 ：point cloud(title)；分类 cs.RO

Comments This paper has been accepted and will be published in the 2023 IEEE International Conference on Robotics and Automation (ICRA)

Journal ref In 2023 IEEE International Conference on Robotics and Automation (ICRA) (pp. 9253-9259)

Visualization of a multidimensional point cloud as a 3D swarm of avatars

Leszek Luchowski, Dariusz Pojda

机构 * Institute of Theoretical and Applied Informatics（理论与应用信息研究所） ； Polish Academy of Sciences（波兰科学院） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.CV

Comments 26 pages, 13 figures

LEGO: Learning and Graph-Optimized Modular Tracker for Online Multi-Object Tracking with Point Clouds

Zhenrong Zhang, Jianan Liu, Yuxuan Xia, Tao Huang, Qing-Long Han, Hongbin Liu

机构 * School of AI and Advanced Computing, Xi’an Jiaotong-Liverpool University（人工智能与先进计算学院，西安交通大学利物浦大学） ； Momoni AI ； Department of Automation, Shanghai Jiaotong University（自动化学院，上海交通大学） ； College of Science and Engineering, James Cook University（科学与工程学院，詹姆斯库克大学） ； School of Engineering, Swinburne University of Technology（工程学院，斯威灵斯大学） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.CV

Comments Accept by IEEE Transactions on Circuits and Systems for Video Technology

Weakly-Supervised Learning for Tree Instances Segmentation in Airborne Lidar Point Clouds

Swann Emilien Céleste Destouches, Jesse Lahaye, Laurent Valentin Jospin, Jan Skaloud

机构 * Environmental Sensing & Observation Laboratory (ESO), Ecole Polytechnique Fédérale de Lausanne (EPFL), Switzerland（环境感知与观测实验室（ESO），瑞士联邦理工学院（EPFL）） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.CV

Comments 8 pages, 9 figures

QuickGrasp: Lightweight Antipodal Grasp Planning with Point Clouds

Navin Sriram Ravie, Keerthi Vasan M, Asokan Thondiyath, Bijo Sebastian

机构 * Department of Engineering Design（工程设计系） ； Indian Institute of Technology, Madras（印度理工学院马德拉斯学院） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.RO

OE3DIS: Open-Ended 3D Point Cloud Instance Segmentation

Phuc D. A. Nguyen, Minh Luu, Anh Tran, Cuong Pham, Khoi Nguyen

机构 * Movian AI ； Posts & Telecommunications Inst. of Tech（电信技术研究所） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.CV

Comments Accepted at ICCVW'25 - OpenSUN3D: 5th Workshop on Open-World 3D Scene Understanding with Foundation Models

TopoLiDM: Topology-Aware LiDAR Diffusion Models for Interpretable and Realistic LiDAR Point Cloud Generation

Jiuming Liu, Zheng Huang, Mengmeng Liu, Tianchen Deng, Francesco Nex, Hao Cheng, Hesheng Wang

机构 * School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai 200240（上海交通大学自动化与智能感知学院） ； Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240（中国教育部系统控制与信息处理重点实验室） ； University of Twente, Netherlands（荷兰埃因霍温理工大学） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.CV

Comments Accepted by IROS 2025. Code:https://github.com/IRMVLab/TopoLiDM

PlaneHEC: Efficient Hand-Eye Calibration for Multi-view Robotic Arm via Any Point Cloud Plane Detection

Ye Wang, Haodong Jing, Yang Liao, Yongqiang Ma, Nanning Zheng

机构 * National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University（国家人类-机器混合增强智能重点实验室，人工智能与机器人研究院，西安交通大学） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.RO

Comments Accepted by 2025 IEEE International Conference on Robotics & Automation (ICRA)

Efficient Spiking Point Mamba for Point Cloud Analysis

Peixi Wu, Bosong Chai, Menghua Zheng, Wei Li, Zhangchi Hu, Jie Chen, Zheyu Zhang, Hebei Li, Xiaoyan Sun

机构 * University of Science and Technology of China（中国科学技术大学） ； Zhejiang University（浙江大学） ； Tsingmao Intelligence（清华妙智） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.CV

Comments Accepted by ICCV 2025

SASep: Saliency-Aware Structured Separation of Geometry and Feature for Open Set Learning on Point Clouds

Jinfeng Xu, Xianzhi Li, Yuan Tang, Xu Han, Qiao Yu, Yixue Hao, Long Hu, Min Chen

机构 * Huazhong University of Science and Technology（华中科技大学） ； Guangdong Intelligent Robotics Institute（广东智能机器人研究院） ； South China University of Technology（华南理工大学） ； Pazhou Laboratory（琶洲实验室） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.CV

Comments 10 pages, conference

UOD: Unseen Object Detection in 3D Point Cloud

Hyunjun Choi, Daeho Um, Hawook Jeong

机构 * ASRI, ECE., Seoul National University（首尔国立大学电子与计算机工程系） ； RideFlux Inc.（RideFlux公司） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.CV

Comments Under review

Improving Open-Set Semantic Segmentation in 3D Point Clouds by Conditional Channel Capacity Maximization: Preliminary Results

Wang Fang, Shirin Rahimi, Olivia Bennett, Sophie Carter, Mitra Hassani, Xu Lan, Omid Javadi, Lucas Mitchell

机构 * University of Toronto（多伦多大学） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.CV

CaRaFFusion: Improving 2D Semantic Segmentation with Camera-Radar Point Cloud Fusion and Zero-Shot Image Inpainting

Huawei Sun, Bora Kunter Sahin, Georg Stettinger, Maximilian Bernhard, Matthias Schubert, Robert Wille

机构 * Huawei Sun ⋆ 1,2（华为（深圳）技术有限公司） ； Bora Kunter Sahin ⋆ 1,3（华为（深圳）技术有限公司） ； Georg Stettinger 1（华为（深圳）技术有限公司） ； Maximilian Bernhard 3（慕尼黑工业大学） ； Matthias Schubert 3（慕尼黑工业大学） ； Robert Wille 2（华为（深圳）技术有限公司） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.CV

Comments Accepted at RA-L 2025

WeatherGen: A Unified Diverse Weather Generator for LiDAR Point Clouds via Spider Mamba Diffusion

Yang Wu, Yun Zhu, Kaihua Zhang, Jianjun Qian, Jin Xie, Jian Yang

机构 * PCA Lab, Nanjing University of Science and Technology（南京理工大学光电信息科学与工程实验室） ； School of Automation, Southeast University（东南大学自动化学院） ； State Key Laboratory for Novel Software Technology, Nanjing University（南京大学软件新技术国家重点实验室） ； School of Intelligence Science and Technology, Nanjing University（南京大学智能科学与技术学院） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.CV

Transferable Foundation Models for Geometric Tasks on Point Cloud Representations: Geometric Neural Operators

Blaine Quackenbush, Paul J. Atzberger

专题命中 点云 ：point cloud(title)；分类 cs.CV

PointNorm-Net: Self-Supervised Normal Prediction of 3D Point Clouds via Multi-Modal Distribution Estimation

Jie Zhang, Minghui Nie, Changqing Zou, Jian Liu, Ligang Liu, Junjie Cao

专题命中 点云 ：point cloud(title)；分类 cs.CV

An End-to-End Robust Point Cloud Semantic Segmentation Network with Single-Step Conditional Diffusion Models

Wentao Qu, Jing Wang, YongShun Gong, Xiaoshui Huang, Liang Xiao

专题命中 点云 ：point cloud(title)；分类 cs.CV

Toward Scalable, Flexible Scene Flow for Point Clouds

Kyle Vedder

专题命中 点云 ：point cloud(title)；分类 cs.CV

Comments PhD Thesis

Road Markings Segmentation from LIDAR Point Clouds using Reflectivity Information

Novel Certad, Walter Morales-Alvarez, Cristina Olaverri-Monreal

专题命中 点云 ：point cloud(title)；分类 cs.RO

RW-Net: Enhancing Few-Shot Point Cloud Classification with a Wavelet Transform Projection-based Network

Haosheng Zhang, Hao Huang

专题命中 点云 ：point cloud(title)；分类 cs.CV

Comments 11 pages, 5 figures, 9 tables

ZAHA: Introducing the Level of Facade Generalization and the Large-Scale Point Cloud Facade Semantic Segmentation Benchmark Dataset

Olaf Wysocki, Yue Tan, Thomas Froech, Yan Xia, Magdalena Wysocki, Ludwig Hoegner, Daniel Cremers, Christoph Holst

专题命中 点云 ：point cloud(title)；分类 cs.CV

Comments Accepted to WACV 2025 (IEEE/CVF Winter Conference on Applications of Computer Vision (WACV))

SegNet4D: Efficient Instance-Aware 4D Semantic Segmentation for LiDAR Point Cloud

Neng Wang, Ruibin Guo, Chenghao Shi, Ziyue Wang, Hui Zhang, Huimin Lu, Zhiqiang Zheng, Xieyuanli Chen

专题命中 点云 ：point cloud(title)；分类 cs.CV

Comments 10 pages, 8 figures

Sim2real Cattle Joint Estimation in 3D point clouds

Mohammad Okour, Raphael Falque, Alen Alempijevic

专题命中 点云 ：point cloud(title)；分类 cs.RO

Journal ref IEEE/RSJ International Conference on Intelligent Robots and Systems 2024

Global Point Cloud Registration Network for Large Transformations

Hanz Cuevas-Velasquez, Alejandro Galán-Cuenca, Antonio Javier Gallego, Marcelo Saval-Calvo, Robert B. Fisher

专题命中 点云 ：point cloud(title)；分类 cs.CV

Journal ref Pattern Analysis and Applications 27, 137 (2024)