Texture-GS: Disentangling the Geometry and Texture for 3D Gaussian Splatting Editing

3D Gaussian splatting, emerging as a groundbreaking approach, has drawn increasing attention for its capabilities of high-fidelity reconstruction and real-time rendering. However, it couples the appearance and geometry of the scene within the Gaussian attributes, which hinders the flexibility of editing operations, such as texture swapping. To address this issue, we propose a novel approach, namely Texture-GS, to disentangle the appearance from the geometry by representing it as a 2D texture mapped onto the 3D surface, thereby facilitating appearance editing. Technically, the disentanglement is achieved by our proposed texture mapping module, which consists of a UV mapping MLP to learn the UV coordinates for the 3D Gaussian centers, a local Taylor expansion of the MLP to efficiently approximate the UV coordinates for the ray-Gaussian intersections, and a learnable texture to capture the fine-grained appearance. Extensive experiments on the DTU dataset demonstrate that our method not only facilitates high-fidelity appearance editing but also achieves real-time rendering on consumer-level devices, e.g. a single RTX 2080 Ti GPU.

MBPTrack: Improving 3D Point Cloud Tracking with Memory Networks and Box Priors

3D single object tracking has been a crucial problem for decades with numerous applications such as autonomous driving. Despite its wide-ranging use, this task remains challenging due to the significant appearance variation caused by occlusion and size differences among tracked targets. To address these issues, we present MBPTrack, which adopts a Memory mechanism to utilize past information and formulates localization in a coarse-to-fine scheme using Box Priors given in the first frame. Specifically, past frames with targetness masks serve as an external memory, and a transformer-based module propagates tracked target cues from the memory to the current frame. To precisely localize objects of all sizes, MBPTrack first predicts the target center via Hough voting. By leveraging box priors given in the first frame, we adaptively sample reference points around the target center that roughly cover the target of different sizes. Then, we obtain dense feature maps by aggregating point features into the reference points, where localization can be performed more effectively. Extensive experiments demonstrate that MBPTrack achieves state-of-the-art performance on KITTI, nuScenes and Waymo Open Dataset, while running at 50 FPS on a single RTX3090 GPU.

CXTrack: Improving 3D Point Cloud Tracking with Contextual Information

3D single object tracking plays an essential role in many applications, such as autonomous driving. It remains a challenging problem due to the large appearance variation and the sparsity of points caused by occlusion and limited sensor capabilities. Therefore, contextual information across two consecutive frames is crucial for effective object tracking. However, points containing such useful information are often overlooked and cropped out in existing methods, leading to insufficient use of important contextual knowledge. To address this issue, we propose CXTrack, a novel transformer-based network for 3D object tracking, which exploits ConteXtual information to improve the tracking results. Specifically, we design a target-centric transformer network that directly takes point features from two consecutive frames and the previous bounding box as input to explore contextual information and implicitly propagate target cues. To achieve accurate localization for objects of all sizes, we propose a transformer-based localization head with a novel center embedding module to distinguish the target from distractors. Extensive experiments on three large-scale datasets, KITTI, nuScenes and Waymo Open Dataset, show that CXTrack achieves state-of-the-art tracking performance while running at 29 FPS.

Gradient-based Point Cloud Denoising with Uniformity

Point clouds captured by depth sensors are often contaminated by noises, obstructing further analysis and applications. In this paper, we emphasize the importance of point distribution uniformity to downstream tasks. We demonstrate that point clouds produced by existing gradient-based denoisers lack uniformity despite having achieved promising quantitative results. To this end, we propose GPCD++, a gradient-based denoiser with an ultra-lightweight network named UniNet to address uniformity. Compared with previous state-of-the-art methods, our approach not only generates competitive or even better denoising results, but also significantly improves uniformity which largely benefits applications such as surface reconstruction.

Attention Mechanisms in Computer Vision: A Survey

Humans can naturally and effectively find salient regions in complex scenes. Motivated by this observation, attention mechanisms were introduced into computer vision with the aim of imitating this aspect of the human visual system. Such an attention mechanism can be regarded as a dynamic weight adjustment process based on features of the input image. Attention mechanisms have achieved great success in many visual tasks, including image classification, object detection, semantic segmentation, video understanding, image generation, 3D vision, multi-modal tasks and self-supervised learning. In this survey, we provide a comprehensive review of various attention mechanisms in computer vision and categorize them according to approach, such as channel attention, spatial attention, temporal attention and branch attention; a related repository https://github.com/MenghaoGuo/Awesome-Vision-Attentions is dedicated to collecting related work. We also suggest future directions for attention mechanism research.

TransLoc3D : Point Cloud based Large-scale Place Recognition using Adaptive Receptive Fields

Place recognition plays an essential role in the field of autonomous driving and robot navigation. Although a number of point cloud based methods have been proposed and achieved promising results, few of them take the size difference of objects into consideration. For small objects like pedestrians and vehicles, large receptive fields will capture unrelated information, while small receptive fields would fail to encode complete geometric information for large objects such as buildings. We argue that fixed receptive fields are not well suited for place recognition, and propose a novel Adaptive Receptive Field Module (ARFM), which can adaptively adjust the size of the receptive field based on the input point cloud. We also present a novel network architecture, named TransLoc3D, to obtain discriminative global descriptors of point clouds for the place recognition task. TransLoc3D consists of a 3D sparse convolutional module, an ARFM module, an external transformer network which aims to capture long range dependency and a NetVLAD layer. Experiments show that our method outperforms prior state-of-the-art results, with an improvement of 1.1\% on average recall@1 on the Oxford RobotCar dataset, and 0.8\% on the B.D. dataset.