3D 视觉

ChangingGrounding: 3D Visual Grounding in Changing Scenes

Miao Hu, Zhiwei Huang, Tai Wang, Jiangmiao Pang, Dahua Lin, Nanning Zheng, Runsen Xu

机构 * Xi’an Jiaotong University（西安交通大学） ； Zhejiang University（浙江大学） ； The Chinese University of Hong Kong（香港中文大学） ； Shanghai AI Laboratory（上海人工智能实验室） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Comments 30 pages

SCENEFORGE: Enhancing 3D-text alignment with Structured Scene Compositions

Cristian Sbrolli, Matteo Matteucci

机构 * Department of Electronics, Information and Bioengineering（电子、信息与生物工程系） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Comments to appear in NeurIPS 2025

Incomplete Multimodal Industrial Anomaly Detection via Cross-Modal Distillation

Wenbo Sui, Daniel Lichau, Josselin Lefèvre, Harold Phelippeau

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Comments For a published version refer to the Information Fusion, DOI. 10.1016/j.inffus.2025.103572

Journal ref Sui, W., Lichau, D., Lefèvre, J., & Phelippeau, H. (2026). Incomplete multimodal industrial anomaly detection via cross-modal distillation. Information Fusion, 126, Article 103572

LiFMCR: Dataset and Benchmark for Light Field Multi-Camera Registration

Aymeric Fleith, Julian Zirbel, Daniel Cremers, Niclas Zeller

机构 * Technical University of Munich（慕尼黑技术大学） ； Karlsruhe University of Applied Sciences（卡尔斯鲁厄应用科学大学） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Comments Accepted at the International Symposium on Visual Computing (ISVC) 2025

Characterizing Lidar Point-Cloud Adversities Using a Vector Field Visualization

Daniel Choate, Jason Rife

专题命中 点云 ：point cloud(abstract)；分类 cs.RO

Comments This is the preprint version of the paper published in: Proceedings of the 37th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2024), September 2024 The final version is available at https://doi.org/10.33012/2024.19864

Inland-LOAM: Voxel-Based Structural Semantic LiDAR Odometry and Mapping for Inland Waterway Navigation

Zhongbi Luo, Yunjia Wang, Jan Swevers, Peter Slaets, Herman Bruyninckx

机构 * Division of Robotics, Automation and Mechatronics in the Department of Mechanical Engineering, KU Leuven（机械工程系机器人、自动化与机电系，KU莱顿大学） ； Division of Declarative Languages and Artificial Intelligence (DTAI) in the Department of Computer Science, KU Leuven（计算机科学系声明语言与人工智能系（DTAI），KU莱顿大学） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.RO

Voronoi-Assisted Diffusion for Computing Unsigned Distance Fields from Unoriented Points

Jiayi Kong, Chen Zong, Junkai Deng, Xuhui Chen, Fei Hou, Shiqing Xin, Junhui Hou, Chen Qian, Ying He

机构 * S-Lab Nanyang Technological University Singapore（南洋理工大学新加坡S-Lab） ； College of Mathematics Nanjing University of Aeronautics and Astronautics China（南京航空航天大学数学学院） ； College of Computing and Data Science Nanyang Technological University Singapore（南洋理工大学计算与数据科学学院） ； Institute of Software Chinese Academy of Sciences China（中国科学院软件研究所） ； School of Computer Science Shandong University China（山东大学计算机科学学院） ； Department of Computer Science City University of Hong Kong China（香港城市大学计算机科学系） ； SenseTime Research China（SenseTime研究院） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Situat3DChange: Situated 3D Change Understanding Dataset for Multimodal Large Language Model

Ruiping Liu, Junwei Zheng, Yufan Chen, Zirui Wang, Kunyu Peng, Kailun Yang, Jiaming Zhang, Marc Pollefeys, Rainer Stiefelhagen

机构 * Karlsruhe Institute of Technology (KIT)（卡尔斯鲁厄理工学院） ； Hunan University（湖南大学） ； ETH Zurich（苏黎世联邦理工学院） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Comments Accepted to NeurIPS 2025 Datasets and Benchmarks Track. Dataset and Code: https://github.com/RuipingL/Situat3DChange

rareboost3d: a synthetic lidar dataset with enhanced rare classes

Shutong Lin, Zhengkang Xiang, Jianzhong Qi, Kourosh Khoshelham

机构 * The University of Melbourne Australia（墨尔本大学） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Obstacle Avoidance using Dynamic Movement Primitives and Reinforcement Learning

Dominik Urbaniak, Alejandro Agostini, Pol Ramon, Jan Rosell, Raúl Suárez, Michael Suppa

机构 * Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya（工业与控制工程研究所，巴塞罗那理工大学） ； Department of Computer Science, University of Innsbruck（计算机科学系，因斯布鲁克大学） ； Roboception GmbH（Roboception公司） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.RO

Comments 8 pages, 7 figures

FOLK: Fast Open-Vocabulary 3D Instance Segmentation via Label-guided Knowledge Distillation

Hongrui Wu, Zhicheng Gao, Jin Cao, Kelu Yao, Wen Shen, Zhihua Wei

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Out-of-Distribution Detection in LiDAR Semantic Segmentation Using Epistemic Uncertainty from Hierarchical GMMs

Hanieh Shojaei Miandashti, Claus Brenner

机构 * Leibniz University Hannover（莱布尼茨汉诺威大学） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

ALISE: Annotation-Free LiDAR Instance Segmentation for Autonomous Driving

Yongxuan Lyu, Guangfeng Jiang, Hongsi Liu, Jun Liu

机构 * Department of Electronic Engineering and Information Science, University of Science & Technology of China（电子工程与信息科学系，中国科学技术大学） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Low-Rank Tensor Recovery via Variational Schatten-p Quasi-Norm and Jacobian Regularization

Zhengyun Cheng, Ruizhe Zhang, Guanwen Zhang, Yi Xu, Xiangyang Ji, Wei Zhou

机构 * School of Electronics and Information, Northwestern Polytechnical University（电子与信息学院，西北工业大学） ； School of Control Science and Engineering, Dalian University of Technology（控制科学与工程学院，大连理工大学） ； Tsinghua University（清华大学） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

SpaCE-10: A Comprehensive Benchmark for Multimodal Large Language Models in Compositional Spatial Intelligence

Ziyang Gong, Wenhao Li, Oliver Ma, Songyuan Li, Zhaokai Wang, Songyuan Li, Jiayi Ji, Xue Yang, Gen Luo, Junchi Yan, Rongrong Ji

机构 * SJTU（上海交通大学） ； XMU（厦门大学） ； Shanghai AI Lab（上海人工智能实验室） ； SYSU（南方科技大学） ； FDU（福建大学） ； NUS（新加坡国立大学） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

GeoComplete: Geometry-Aware Diffusion for Reference-Driven Image Completion

Beibei Lin, Tingting Chen, Robby T. Tan

机构 * National University of Singapore（新加坡国立大学） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Comments Accepted by NeurIPS 2025. Project page: https://bb12346.github.io/GeoComplete/

Vehicle-Scene Interaction: A Text-Driven 3D Lidar Place Recognition Method for Autonomous Driving

Tianyi Shang, Zhenyu Li, Pengjie Xu, Zhaojun Deng

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Comments 13 pages

LangGrasp: Leveraging Fine-Tuned LLMs for Language Interactive Robot Grasping with Ambiguous Instructions

Yunhan Lin, Wenqi Wu, Zhijie Zhang, Huasong Min

机构 * School of Computer Science and Technology（计算机科学与技术学院） ； Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System（湖北省智能信息处理与实时工业系统重点实验室） ； Institute of Robotics and Intelligent Systems（机器人与智能系统研究院） ； Wuhan University of Science and Technology（武汉理工大学） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.RO

Comments 8 pages, 6 figures

Real-time Multi-Plane Segmentation Based on GPU Accelerated High-Resolution 3D Voxel Mapping for Legged Robot Locomotion

Shun Niijima, Ryoichi Tsuzaki, Noriaki Takasugi, Masaya Kinoshita

机构 * sony group corporation（索尼集团公司） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.RO

Comments 8 pages, 12 figures, This work has been submitted to the IEEE for possible publication. Copyright may be transfered without notice, after which this version may no longer be accessible

LiDAR-HMR: 3D Human Mesh Recovery from LiDAR

Bohao Fan, Wenzhao Zheng, Jianjiang Feng, Jie Zhou

机构 * Department of Automation, Tsinghua University（自动化系，清华大学） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Comments Code is available at: https://github.com/soullessrobot/LiDAR-HMR/

PAN: Pillars-Attention-Based Network for 3D Object Detection

Ruan Bispo, Dane Mitrev, Letizia Mariotti, Clément Botty, Denver Humphrey, Anthony Scanlan, Ciarán Eising

机构 * Department of Electronic and Computer Engineering, Lero (the Research Ireland Centre for Software), and the Data Driven Computer Engineering (D 2 iCE) Research Centre at the University of Limerick（电子与计算机工程系，Lero（爱尔兰软件研究中心），以及利默里克大学数据驱动计算机工程（D 2 iCE）研究中心） ； Provizio, Future Mobility Campus Ireland, Shannon Free Zone（Provizio，Future Mobility Campus Ireland，Shannon Free Zone） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Easi3R: Estimating Disentangled Motion from DUSt3R Without Training

Xingyu Chen, Yue Chen, Yuliang Xiu, Andreas Geiger, Anpei Chen

机构 * Zhejiang University（浙江大学） ； Westlake University（西湖大学） ； Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所） ； University of Tübingen, Tübingen AI Center（图宾根大学，图宾根AI中心） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Comments Page: https://easi3r.github.io/ Code: https://github.com/Inception3D/Easi3R

Journal ref IEEE/CVF International Conference on Computer Vision (ICCV), 2025

S$^3$E: Self-Supervised State Estimation for Radar-Inertial System

Shengpeng Wang, Yulong Xie, Qing Liao, Wei Wang

机构 * Huazhong University of Science and Technology（华中科技大学） ； Harbin Institute of Technology（哈尔滨工业大学） ； Wuhan University（武汉大学） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.RO

PinPoint3D: Fine-Grained 3D Part Segmentation from a Few Clicks

Bojun Zhang, Hangjian Ye, Hao Zheng, Jianzheng Huang, Zhengyu Lin, Zhenhong Guo, Feng Zheng

机构 * Department of Computer Science and Engineering（计算机科学与工程系） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Comments 15 pages, 12 figures, conference

DAGDiff: Guiding Dual-Arm Grasp Diffusion to Stable and Collision-Free Grasps

Md Faizal Karim, Vignesh Vembar, Keshab Patra, Gaurav Singh, K Madhava Krishna

机构 * Robotics Research Center, IIIT Hyderabad（IIIT海得拉巴机器人研究中心） ； Brown University（布朗大学） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.RO

TACO-Net: Topological Signatures Triumph in 3D Object Classification

Anirban Ghosh, Ayan Dutta

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

LiDAR-based Human Activity Recognition through Laplacian Spectral Analysis

Sasan Sharifipour, Constantino Álvarez Casado, Le Nguyen, Tharindu Ekanayake, Manuel Lage Cañellas, Nhi Nguyen, Miguel Bordallo López

机构 * Center for Machine Vision and Signal Analysis (CMVS), University of Oulu, Finland（机器视觉与信号分析中心（CMVS）、奥卢大学，芬兰） ； Candour Ltd, Oulu, Finland（Candour公司、奥卢，芬兰） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Comments 9 pages, 5 figures, 4 tables, 22 references, conference; Code available at https://github.com/Arritmic/oulu-pointcloud-har

GZSL-MoE: Apprentissage G{é}n{é}ralis{é} Z{é}ro-Shot bas{é} sur le M{é}lange d'Experts pour la Segmentation S{é}mantique de Nuages de Points 3DAppliqu{é} {à} un Jeu de Donn{é}es d'Environnement de Collaboration Humain-Robot

Ahed Alboody

专题命中 点云 ：point cloud(abstract)；分类 cs.CV

Comments in French language. 28e Conf{é}rence Nationale en Intelligence Artificielle. Plate-Forme Intelligence Artificielle 2025, Association Fran{\c c}aise pour l'Intelligence Artificielle, https://pfia2025.u-bourgogne.fr/, Jun 2025, Dijon, France

CoopScenes: Multi-Scene Infrastructure and Vehicle Data for Advancing Collective Perception in Autonomous Driving

Marcel Vosshans, Alexander Baumann, Matthias Drueppel, Omar Ait-Aider, Youcef Mezouar, Thao Dang, Markus Enzweiler

机构 * Institute for Intelligent Systems（智能系统研究所） ； Faculty of Computer Science and Engineering（计算机科学与工程学院） ； University of Applied Sciences Esslingen（应用科学大学埃森堡） ； Institut Pascal ISPR（帕斯卡尔研究所） ； Universite Clermont Auvergne INP / CNRS（克勒蒙费朗大学 INP / CNRS） ； Center for Artificial Intelligence（人工智能中心） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.RO

Comments Accepted to be published at the 2025 36th IEEE Intelligent Vehicles Symposium (IV), Cluj-Napoca, Romania, June 22 - 25, 2025

An Adaptive ICP LiDAR Odometry Based on Reliable Initial Pose

Qifeng Wang, Weigang Li, Lei Nie, Xin Xu, Wenping Liu, Zhe Xu

机构 * School of Information Science and Engineering, Wuhan University of Science and Technology（信息科学与工程学院，武汉科技大学） ； School of Computer Science and Technology, Wuhan University of Science and Technology（计算机科学与技术学院，武汉科技大学） ； School of Information Management and Institute of Big Data and Digital Economy, Hubei University of Economics（信息管理学院和大数据与数字经济研究院，湖北经济学院） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.RO