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We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…

Indoor scenes are usually characterized by scattered objects and their relationships, which turns the indoor scene classification task into a challenging computer vision task. Despite the significant performance boost in classification…

3D object detection has seen quick progress thanks to advances in deep learning on point clouds. A few recent works have even shown state-of-the-art performance with just point clouds input (e.g. VoteNet). However, point cloud data have…

In this paper we propose a neural message passing approach to augment an input 3D indoor scene with new objects matching their surroundings. Given an input, potentially incomplete, 3D scene and a query location, our method predicts a…

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

Humans can perceive scenes in 3D from a handful of 2D views. For AI agents, the ability to recognize a scene from any viewpoint given only a few images enables them to efficiently interact with the scene and its objects. In this work, we…

An understanding of the nature of objects could help robots to solve both high-level abstract tasks and improve performance at lower-level concrete tasks. Although deep learning has facilitated progress in image understanding, a robot's…

Current successful methods of 3D scene perception rely on the large-scale annotated point cloud, which is tedious and expensive to acquire. In this paper, we propose Model2Scene, a novel paradigm that learns free 3D scene representation…

For intelligent robots to interact in meaningful ways with their environment, they must understand both the geometric and semantic properties of the scene surrounding them. The majority of research to date has addressed these mapping…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Pixel-level 2D object semantic understanding is an important topic in computer vision and could help machine deeply understand objects (e.g. functionality and affordance) in our daily life. However, most previous methods directly train on…

Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with…

Recent studies on visual reinforcement learning (visual RL) have explored the use of 3D visual representations. However, none of these work has systematically compared the efficacy of 3D representations with 2D representations across…

Semantic segmentation is an important and well-known task in the field of computer vision, in which we attempt to assign a corresponding semantic class to each input element. When it comes to semantic segmentation of 2D images, the input…

We present a new point-based approach for modeling the appearance of real scenes. The approach uses a raw point cloud as the geometric representation of a scene, and augments each point with a learnable neural descriptor that encodes local…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

Abstract semantic 3D scene understanding is a problem of critical importance in robotics. As robots still lack the common-sense knowledge about household objects and locations of an average human, we investigate the use of pre-trained…

Deep learning techniques for point cloud data have demonstrated great potentials in solving classical problems in 3D computer vision such as 3D object classification and segmentation. Several recent 3D object classification methods have…