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We propose a novel point cloud based 3D organ segmentation pipeline utilizing deep Q-learning. In order to preserve shape properties, the learning process is guided using a statistical shape model. The trained agent directly predicts…
Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying…
Concurrently estimating the 6-DOF pose of multiple cameras or robots---cooperative localization---is a core problem in contemporary robotics. Current works focus on a set of mutually observable world landmarks and often require inbuilt…
We propose a new multi-instance dynamic RGB-D SLAM system using an object-level octree-based volumetric representation. It can provide robust camera tracking in dynamic environments and at the same time, continuously estimate geometric,…
In this paper we study the task of a single-view image-guided point cloud completion. Existing methods have got promising results by fusing the information of image into point cloud explicitly or implicitly. However, given that the image…
Various multi-modal imaging sensors are currently involved at different steps of an interventional therapeutic work-flow. Cone beam computed tomography (CBCT), computed tomography (CT) or Magnetic Resonance (MR) images thereby provides…
When localizing and detecting 3D objects for autonomous driving scenes, obtaining information from multiple sensor (e.g. camera, LIDAR) typically increases the robustness of 3D detectors. However, the efficient and effective fusion of…
Point clouds and RGB images are two general perceptional sources in autonomous driving. The former can provide accurate localization of objects, and the latter is denser and richer in semantic information. Recently, AutoAlign presents a…
Purpose: The integration of multimodal imaging into operating rooms paves the way for comprehensive surgical scene understanding. In ophthalmic surgery, by now, two complementary imaging modalities are available: operating microscope (OPMI)…
Image registration plays an important role in medical image analysis. Conventional optimization based methods provide an accurate estimation due to the iterative process at the cost of expensive computation. Deep learning methods such as…
We propose a fully automatic method for fitting a 3D morphable model to single face images in arbitrary pose and lighting. Our approach relies on geometric features (edges and landmarks) and, inspired by the iterated closest point…
Automatic generation of Building Information Models (BIM) from building scans is a key challenge in architecture and construction. We present a modular pipeline for generating IFC-compliant BIM from 3D point clouds. The hybrid approach…
Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…
The use of infrastructure sensor technology for traffic detection has already been proven several times. However, extrinsic sensor calibration is still a challenge for the operator. While previous approaches are unable to calibrate the…
4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research finish the 3D object detection task by…
This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…
Odometry on aerial robots has to be of low latency and high robustness whilst also respecting the Size, Weight, Area and Power (SWAP) constraints as demanded by the size of the robot. A combination of visual sensors coupled with Inertial…
3D object recognition accuracy can be improved by learning the multi-scale spatial features from 3D spatial geometric representations of objects such as point clouds, 3D models, surfaces, and RGB-D data. Current deep learning approaches…
Learning-based 3D Scanning plays a crucial role in enabling efficient and accurate scanning of target objects. However, recent reinforcement learning-based methods often require large-scale training data and still struggle to generalize to…
A major endeavor of computer vision is to represent, understand and extract structure from 3D data. Towards this goal, unsupervised learning is a powerful and necessary tool. Most current unsupervised methods for 3D shape analysis use…