Point clouds captured by scanning devices are often incomplete due to occlusion. Point cloud completion aims to predict the complete shape based on its partial input. Existing methods can be classified into supervised and unsupervised methods. However, both of them require a large number of 3D complete point clouds, which are difficult to capture. In this paper, we propose Cross-PCC, an unsupervised point cloud completion method without requiring any 3D complete point clouds. We only utilize 2D images of the complete objects, which are easier to capture than 3D complete and clean point clouds. Specifically, to take advantage of the complementary information from 2D images, we use a single-view RGB image to extract 2D features and design a fusion module to fuse the 2D and 3D features extracted from the partial point cloud. To guide the shape of predicted point clouds, we project the predicted points of the object to the 2D plane and use the foreground pixels of its silhouette maps to constrain the position of the projected points. To reduce the outliers of the predicted point clouds, we propose a view calibrator to move the points projected to the background into the foreground by the single-view silhouette image. To the best of our knowledge, our approach is the first point cloud completion method that does not require any 3D supervision. The experimental results of our method are superior to those of the state-of-the-art unsupervised methods by a large margin. Moreover, compared to some supervised methods, our method achieves similar performance. We will make the source code publicly available at https://github.com/ltwu6/cross-pcc.

立体类像素细分旨在通过左右视图将离散的像素分组为感知区域，以更加协作和高效地分组。现有的Superpixel分割算法主要利用颜色和空间特征作为输入，这可能会对空间信息施加强大的约束，同时利用立体声图像对的差异信息。为了减轻此问题，我们提出了一种立体声超级像素细分方法，并在本工作中具有空间信息的脱钩机制。为了解除立体视差信息和空间信息，在融合立体声图像对的特征之前，暂时删除空间信息，并提出了脱钩的立体声融合模块（DSFM），以处理立体声的特征特征特征对齐和遮挡问题。此外，由于空间信息对于超像素分割至关重要，因此我们进一步设计一个动态空间嵌入模块（DSEM）以重新添加空间信息，并且将通过DSEM中的DSEM进行自适应调整空间信息的权重（DF）用于实现更好的细分。全面的实验结果表明，我们的方法可以在KITTI2015和CityScapes数据集上实现最新性能，并且还可以在NJU2K数据集上的显着对象检测中验证效率。源代码将在接受纸张后公开提供。

在本文中，我们通过深度学习研究了高光谱（HS）图像空间超分辨率的问题。特别是，我们专注于如何有效有效地嵌入HS图像的高维空间光谱信息。具体而言，与采用经验设计的网络模块的现有方法相反，我们将HS嵌入为一组精心定义的HS嵌入事件的后验分布的近似聚合。然后，我们将所提出的特征嵌入方案纳入源符合的超级分辨率框架中，该框架具有物理性开采，从而产生了轻质的PDE-NET，其中高分辨率（HR）HS图像是从输入低 - 低 - 之间的残差迭代完善的。分辨率（LR）HS图像和伪LR-HS图像通过概率启发的HS嵌入从重建的HR-HS图像中退化。在三个常见基准数据集上进行的广泛实验表明，PDE-NET比最先进的方法实现了卓越的性能。此外，这种网络的概率特征可以提供网络输出的认知不确定性，当用于其他基于HS图像的应用程序时，这可能会带来其他好处。该代码将在https://github.com/jinnh/pde-net上公开获得。

The past few years have witnessed the prevalence of self-supervised representation learning within the language and 2D vision communities. However, such advancements have not been fully migrated to the community of 3D point cloud learning. Different from previous pre-training pipelines for 3D point clouds that generally fall into the scope of either generative modeling or contrastive learning, in this paper, we investigate a translative pre-training paradigm, namely PointVST, driven by a novel self-supervised pretext task of cross-modal translation from an input 3D object point cloud to its diverse forms of 2D rendered images (e.g., silhouette, depth, contour). Specifically, we begin with deducing view-conditioned point-wise embeddings via the insertion of the viewpoint indicator, and then adaptively aggregate a view-specific global codeword, which is further fed into the subsequent 2D convolutional translation heads for image generation. We conduct extensive experiments on common task scenarios of 3D shape analysis, where our PointVST shows consistent and prominent performance superiority over current state-of-the-art methods under diverse evaluation protocols. Our code will be made publicly available.

Deep learning-based 3D object detectors have made significant progress in recent years and have been deployed in a wide range of applications. It is crucial to understand the robustness of detectors against adversarial attacks when employing detectors in security-critical applications. In this paper, we make the first attempt to conduct a thorough evaluation and analysis of the robustness of 3D detectors under adversarial attacks. Specifically, we first extend three kinds of adversarial attacks to the 3D object detection task to benchmark the robustness of state-of-the-art 3D object detectors against attacks on KITTI and Waymo datasets, subsequently followed by the analysis of the relationship between robustness and properties of detectors. Then, we explore the transferability of cross-model, cross-task, and cross-data attacks. We finally conduct comprehensive experiments of defense for 3D detectors, demonstrating that simple transformations like flipping are of little help in improving robustness when the strategy of transformation imposed on input point cloud data is exposed to attackers. Our findings will facilitate investigations in understanding and defending the adversarial attacks against 3D object detectors to advance this field.

Point clouds are characterized by irregularity and unstructuredness, which pose challenges in efficient data exploitation and discriminative feature extraction. In this paper, we present an unsupervised deep neural architecture called Flattening-Net to represent irregular 3D point clouds of arbitrary geometry and topology as a completely regular 2D point geometry image (PGI) structure, in which coordinates of spatial points are captured in colors of image pixels. \mr{Intuitively, Flattening-Net implicitly approximates a locally smooth 3D-to-2D surface flattening process while effectively preserving neighborhood consistency.} \mr{As a generic representation modality, PGI inherently encodes the intrinsic property of the underlying manifold structure and facilitates surface-style point feature aggregation.} To demonstrate its potential, we construct a unified learning framework directly operating on PGIs to achieve \mr{diverse types of high-level and low-level} downstream applications driven by specific task networks, including classification, segmentation, reconstruction, and upsampling. Extensive experiments demonstrate that our methods perform favorably against the current state-of-the-art competitors. We will make the code and data publicly available at https://github.com/keeganhk/Flattening-Net.

Directly training a document-to-document (Doc2Doc) neural machine translation (NMT) via Transformer from scratch, especially on small datasets usually fails to converge. Our dedicated probing tasks show that 1) both the absolute position and relative position information gets gradually weakened or even vanished once it reaches the upper encoder layers, and 2) the vanishing of absolute position information in encoder output causes the training failure of Doc2Doc NMT. To alleviate this problem, we propose a position-aware Transformer (P-Transformer) to enhance both the absolute and relative position information in both self-attention and cross-attention. Specifically, we integrate absolute positional information, i.e., position embeddings, into the query-key pairs both in self-attention and cross-attention through a simple yet effective addition operation. Moreover, we also integrate relative position encoding in self-attention. The proposed P-Transformer utilizes sinusoidal position encoding and does not require any task-specified position embedding, segment embedding, or attention mechanism. Through the above methods, we build a Doc2Doc NMT model with P-Transformer, which ingests the source document and completely generates the target document in a sequence-to-sequence (seq2seq) way. In addition, P-Transformer can be applied to seq2seq-based document-to-sentence (Doc2Sent) and sentence-to-sentence (Sent2Sent) translation. Extensive experimental results of Doc2Doc NMT show that P-Transformer significantly outperforms strong baselines on widely-used 9 document-level datasets in 7 language pairs, covering small-, middle-, and large-scales, and achieves a new state-of-the-art. Experimentation on discourse phenomena shows that our Doc2Doc NMT models improve the translation quality in both BLEU and discourse coherence. We make our code available on Github.

Speech-to-speech translation directly translates a speech utterance to another between different languages, and has great potential in tasks such as simultaneous interpretation. State-of-art models usually contains an auxiliary module for phoneme sequences prediction, and this requires textual annotation of the training dataset. We propose a direct speech-to-speech translation model which can be trained without any textual annotation or content information. Instead of introducing an auxiliary phoneme prediction task in the model, we propose to use bottleneck features as intermediate training objectives for our model to ensure the translation performance of the system. Experiments on Mandarin-Cantonese speech translation demonstrate the feasibility of the proposed approach and the performance can match a cascaded system with respect of translation and synthesis qualities.

The recent neural implicit representation-based methods have greatly advanced the state of the art for solving the long-standing and challenging problem of reconstructing a discrete surface from a sparse point cloud. These methods generally learn either a binary occupancy or signed/unsigned distance field (SDF/UDF) as surface representation. However, all the existing SDF/UDF-based methods use neural networks to implicitly regress the distance in a purely data-driven manner, thus limiting the accuracy and generalizability to some extent. In contrast, we propose the first geometry-guided method for UDF and its gradient estimation that explicitly formulates the unsigned distance of a query point as the learnable affine averaging of its distances to the tangent planes of neighbouring points. Besides, we model the local geometric structure of the input point clouds by explicitly learning a quadratic polynomial for each point. This not only facilitates upsampling the input sparse point cloud but also naturally induces unoriented normal, which further augments UDF estimation. Finally, to extract triangle meshes from the predicted UDF we propose a customized edge-based marching cube module. We conduct extensive experiments and ablation studies to demonstrate the significant advantages of our method over state-of-the-art methods in terms of reconstruction accuracy, efficiency, and generalizability. The source code is publicly available at https://github.com/rsy6318/GeoUDF.

Point cloud completion, as the upstream procedure of 3D recognition and segmentation, has become an essential part of many tasks such as navigation and scene understanding. While various point cloud completion models have demonstrated their powerful capabilities, their robustness against adversarial attacks, which have been proven to be fatally malicious towards deep neural networks, remains unknown. In addition, existing attack approaches towards point cloud classifiers cannot be applied to the completion models due to different output forms and attack purposes. In order to evaluate the robustness of the completion models, we propose PointCA, the first adversarial attack against 3D point cloud completion models. PointCA can generate adversarial point clouds that maintain high similarity with the original ones, while being completed as another object with totally different semantic information. Specifically, we minimize the representation discrepancy between the adversarial example and the target point set to jointly explore the adversarial point clouds in the geometry space and the feature space. Furthermore, to launch a stealthier attack, we innovatively employ the neighbourhood density information to tailor the perturbation constraint, leading to geometry-aware and distribution-adaptive modifications for each point. Extensive experiments against different premier point cloud completion networks show that PointCA can cause a performance degradation from 77.9% to 16.7%, with the structure chamfer distance kept below 0.01. We conclude that existing completion models are severely vulnerable to adversarial examples, and state-of-the-art defenses for point cloud classification will be partially invalid when applied to incomplete and uneven point cloud data.