3D 视觉

Finding Outliers in a Haystack: Anomaly Detection for Large Pointcloud Scenes

Ryan Faulkner, Luke Haub, Simon Ratcliffe, Tat-Jun Chin

机构 * University of Adelaide, Australia（澳大利亚阿德莱德大学） ； Maptek, Australia（澳大利亚Maptek公司） 纠错

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

Comments arXiv Preprint, paper has since been accepted to ACPR 2025

Weakly-Supervised 3D Visual Grounding based on Visual Language Alignment

Xiaoxu Xu, Yitian Yuan, Qiudan Zhang, Wenhui Wu, Zequn Jie, Lin Ma, Xu Wang

机构 * College of Computer Science and Software Engineering, Shenzhen University（深圳大学计算机科学与软件工程学院） ； Meituan Inc.（美团公司） ； College of Electronics and Information Engineering, Shenzhen University（深圳大学电子与信息工程学院） ； Guangdong Key Laboratory of Intelligent Information Processing（广东省智能信息处理重点实验室） 纠错

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

PVNet: Point-Voxel Interaction LiDAR Scene Upsampling Via Diffusion Models

Xianjing Cheng, Lintai Wu, Zuowen Wang, Junhui Hou, Jie Wen, Yong Xu

机构 * Telecom Guizhou Branch（贵州电信支局） ； School of Computer Science and Technology, Harbin Institute of Technology（哈尔滨工业大学计算机科学与技术学院） ； College of Engineering, Huaqiao University（华侨大学工程学院） ； Department of Computer Science, City University of Hong Kong（香港城市大学计算机科学系） ； Bio-Computing Research Center, Shenzhen Graduate School, Harbin Institute of Technology（哈尔滨工业大学深圳研究生院生物计算研究中心） ； Key Laboratory of Network Oriented Intelligent Computation（网络导向智能计算重点实验室） 纠错

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

Comments 14 pages, 11 figures

V2X-R: Cooperative LiDAR-4D Radar Fusion with Denoising Diffusion for 3D Object Detection

Xun Huang, Jinlong Wang, Qiming Xia, Siheng Chen, Bisheng Yang, Xin Li, Cheng Wang, Chenglu Wen

机构 * Fujian Key Laboratory of Sensing and Computing for Smart Cities, Xiamen University, China（福建智能城市感知与计算重点实验室，厦门大学） ； Key Laboratory of Multimedia Trusted Perception and Efficient Computing, Ministry of Education of China, Xiamen University, China（多媒体可信感知与高效计算重点实验室，中国教育部，厦门大学） ； Zhongguancun Academy（中关村学院） ； Shanghai Jiao Tong University（上海交通大学） ； Wuhan University（武汉大学） ； Texas A&M University（德克萨斯A&M大学） 纠错

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

Comments Accepted by CVPR2025

CoVeRaP: Cooperative Vehicular Perception through mmWave FMCW Radars

Jinyue Song, Hansol Ku, Jayneel Vora, Nelson Lee, Ahmad Kamari, Prasant Mohapatra, Parth Pathak

机构 * UC Davis（加州大学戴维斯分校） ； Intel Corporation（英特尔公司） ； USF Tampa（佛罗里达州立大学坦帕分校） ； GMU（乔治·梅森大学） 纠错

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

Comments Accepted at ICCCN 2025 (IEEE International Conference on Computer Communications and Networks), Tokyo, Japan, August 2025

Towards a 3D Transfer-based Black-box Attack via Critical Feature Guidance

Shuchao Pang, Zhenghan Chen, Shen Zhang, Liming Lu, Siyuan Liang, Anan Du, Yongbin Zhou

机构 * Nanjing University of Science and Technology（南京理工大学） ； STCA, Microsoft（STCA微软公司） ； Nanyang Technological University（南洋理工大学） ； Nanjing University of Industry Technology（南京工业技术大学） 纠错

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

Comments 11 pages, 6 figures

GraspQP: Differentiable Optimization of Force Closure for Diverse and Robust Dexterous Grasping

René Zurbrügg, Andrei Cramariuc, Marco Hutter

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

EAROL: Environmental Augmented Perception-Aware Planning and Robust Odometry via Downward-Mounted Tilted LiDAR

Xinkai Liang, Yigu Ge, Yangxi Shi, Haoyu Yang, Xu Cao, Hao Fang

机构 * School of Automation, Beijing Institute of Technology（自动化学院，北京理工大学） 纠错

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

Comments Accepted by 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025). This work has been submitted to the IEEE for possible publication

TCFNet: Bidirectional face-bone transformation via a Transformer-based coarse-to-fine point movement network

Runshi Zhang, Bimeng Jie, Yang He, Junchen Wang

机构 * School of Mechanical Engineering and Automation, Beihang University（北京航空航天大学机械工程及自动化学院） ； Peking University School and Hospital of Stomatology（北京大学口腔医学院） 纠错

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

Comments 17 pages, 11 figures

Journal ref Medical Image Analysis 2025

CORENet: Cross-Modal 4D Radar Denoising Network with LiDAR Supervision for Autonomous Driving

Fuyang Liu, Jilin Mei, Fangyuan Mao, Chen Min, Yan Xing, Yu Hu

机构 * Institute of Computing Technology, Chinese Academy of Sciences（中国科学院计算技术研究所） ； University of Chinese Academy of Sciences（中国科学院大学） ； Beijing Institute of Control Engineering（北京控制工程研究所） 纠错

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

Comments 8 pages, 5 figures, Accepted to IROS 2025

Towards Vision Zero: The TUM Traffic Accid3nD Dataset

Walter Zimmer, Ross Greer, Daniel Lehmberg, Marc Pavel, Holger Caesar, Xingcheng Zhou, Ahmed Ghita, Mohan Trivedi, Rui Song, Hu Cao, Akshay Gopalkrishnan, Alois C. Knoll

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

Comments Accepted for the IEEE/CVF International Conference on Computer Vision Workshops (ICCVW)

DoppDrive: Doppler-Driven Temporal Aggregation for Improved Radar Object Detection

Yuval Haitman, Oded Bialer

机构 * General Motors（通用汽车公司） ； Ben Gurion University of the Negev（本· Gurion 内盖夫大学） 纠错

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

Comments ICCV 2025

Transferable Class Statistics and Multi-scale Feature Approximation for 3D Object Detection

Hao Peng, Hong Sang, Yajing Ma, Ping Qiu, Chao Ji

机构 * School of Internet of Things, Nanjing University of Posts（物联网学院，南京邮电大学） ； College of Marine Electrical Engineering, Dalian Maritime University（海洋电气工程学院，大连海事大学） ； College of Information Science and Engineering, Northeastern University（信息科学与工程学院，东北大学） 纠错

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

Optimizing ROS 2 Communication for Wireless Robotic Systems

Sanghoon Lee, Taehun Kim, Jiyeong Chae, Kyung-Joon Park

机构 * Department of Electrical Engineering and Computer Science（电气工程与计算机科学系） ； DGIST（韩国国立智能科学研究院） 纠错

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

Comments 10 pages, 8 figures

GeoVLA: Empowering 3D Representations in Vision-Language-Action Models

Lin Sun, Bin Xie, Yingfei Liu, Hao Shi, Tiancai Wang, Jiale Cao

机构 * Tianjin University（天津大学） ； Dexmal ； Tsinghua University（清华大学） 纠错

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

Comments The project is visible at https://linsun449.github.io/GeoVLA/

MetaFold: Language-Guided Multi-Category Garment Folding Framework via Trajectory Generation and Foundation Model

Haonan Chen, Junxiao Li, Ruihai Wu, Yiwei Liu, Yiwen Hou, Zhixuan Xu, Jingxiang Guo, Chongkai Gao, Zhenyu Wei, Shensi Xu, Jiaqi Huang, Lin Shao

机构 * School of Computing, National University of Singapore（新加坡国立大学计算机学院） ； NUS Guangzhou Research Translation and Innovation Institute（新加坡国立大学广州翻译与创新研究院） ； School of Computer Science, Nanjing University（南京大学计算机学院） ； School of Computer Science, Peking University（北京大学计算机学院） ； School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University（上海交通大学电子信息与电气工程学院） 纠错

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

CitySeg: A 3D Open Vocabulary Semantic Segmentation Foundation Model in City-scale Scenarios

Jialei Xu, Zizhuang Wei, Weikang You, Linyun Li, Weijian Sun

机构 * Huawei Technologies Co., Ltd（华为技术有限公司） 纠错

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

GRASPTrack: Geometry-Reasoned Association via Segmentation and Projection for Multi-Object Tracking

Xudong Han, Pengcheng Fang, Yueying Tian, Jianhui Yu, Xiaohao Cai, Daniel Roggen, Philip Birch

机构 * Xudong Han1, Pengcheng Fang1, Yueying Tian, Jianhui Yu, Xiaohao Cai, Daniel Roggen, Philip Birch 2（汉旭东1，方鹏成1，田悦迎，于建辉，蔡晓浩，罗根，比奇2） 纠错

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

End-to-End Humanoid Robot Safe and Comfortable Locomotion Policy

Zifan Wang, Xun Yang, Jianzhuang Zhao, Jiaming Zhou, Teli Ma, Ziyao Gao, Arash Ajoudani, Junwei Liang

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）） ； The Hong Kong University of Science and Technology（香港科技大学） ； Human-Robot Interfaces and Interaction Lab., Istituto Italiano di Tecnologia, Italy（人机交互实验室，意大利理工学院） 纠错

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

Mapless Collision-Free Flight via MPC using Dual KD-Trees in Cluttered Environments

Linzuo Zhang, Yu Hu, Yang Deng, Feng Yu, Danping Zou

机构 * Shanghai Key Laboratory of Navigation and Location-Based Services, School of Sensing Science and Engineering, Shanghai Jiao Tong University（上海导航与位置服务重点实验室，传感科学与工程学院，上海交通大学） 纠错

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

AnomalyMoE: Towards a Language-free Generalist Model for Unified Visual Anomaly Detection

Zhaopeng Gu, Bingke Zhu, Guibo Zhu, Yingying Chen, Wei Ge, Ming Tang, Jinqiao Wang

机构 * Foundation Model Research Center, Institute of Automation, Chinese Academy of Sciences, Beijing, China（中国科学院自动化研究所基础模型研究中心） ； School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China（中国科学院大学人工智能学院） ； Objecteye Inc., Beijing, China（Objecteye公司） 纠错

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

ImLPR: Image-based LiDAR Place Recognition using Vision Foundation Models

Minwoo Jung, Lanke Frank Tarimo Fu, Maurice Fallon, Ayoung Kim

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

Comments CoRL2025 Accepted, 23 Pages, 15 Figures and 14 Tables

Symmetry Understanding of 3D Shapes via Chirality Disentanglement

Weikang Wang, Tobias Weißberg, Nafie El Amrani, Florian Bernard

机构 * University of Bonn（波恩大学） ； Lamarr Institute（拉马尔研究所） 纠错

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

Comments Accepted at ICCV 2025

Part Segmentation and Motion Estimation for Articulated Objects with Dynamic 3D Gaussians

Jun-Jee Chao, Qingyuan Jiang, Volkan Isler

机构 * Department of Computer Science University of Minnesota Minnesota, USA（计算机科学系 明尼苏达大学） ； Department of Computer Science The University of Texas at Austin Texas, USA（计算机科学系 德克萨斯大学奥斯汀分校） 纠错

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

TAlignDiff: Automatic Tooth Alignment assisted by Diffusion-based Transformation Learning

Yunbi Liu, Enqi Tang, Shiyu Li, Lei Ma, Juncheng Li, Shu Lou, Yongchu Pan, Qingshan Liu

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

Comments Submitted to AAAI 2026

Point-Based Shape Representation Generation with a Correspondence-Preserving Diffusion Model

Shen Zhu, Yinzhu Jin, Ifrah Zawar, P. Thomas Fletcher

机构 * University of Virginia（弗吉尼亚大学） 纠错

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

Graph Attention-Driven Bayesian Deep Unrolling for Dual-Peak Single-Photon Lidar Imaging

Kyungmin Choi, JaKeoung Koo, Stephen McLaughlin, Abderrahim Halimi

机构 * School of Computing, Gachon University（高丽大学计算机学院） ； School of Engineering and Physical Sciences, Heriot-Watt University（赫瑞-瓦特大学工程与物理科学学院） 纠错

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

OmniEvent: Unified Event Representation Learning

Weiqi Yan, Chenlu Lin, Youbiao Wang, Zhipeng Cai, Xiuhong Lin, Yangyang Shi, Weiquan Liu, Yu Zang

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

CP-FREEZER: Latency Attacks against Vehicular Cooperative Perception

Chenyi Wang, Ruoyu Song, Raymond Muller, Jean-Philippe Monteuuis, Z. Berkay Celik, Jonathan Petit, Ryan Gerdes, Ming Li

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

Voyaging into Perpetual Dynamic Scenes from a Single View

Fengrui Tian, Tianjiao Ding, Jinqi Luo, Hancheng Min, René Vidal

机构 * University of Pennsylvania（宾夕法尼亚大学） 纠错

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

Comments Accepted by International Conference on Computer Vision (ICCV) 2025. Project Page: https://tianfr.github.io/DynamicVoyager