Related papers: CORSAIR: Convolutional Object Retrieval and Symmet…

In this paper, we derive a probabilistic registration algorithm for object modeling and tracking. In many robotics applications, such as manipulation tasks, nonvisual information about the movement of the object is available, which we will…

Category-level object pose estimation aims to predict the pose and size of arbitrary objects in specific categories. Existing methods struggle with the inherent incompleteness of observed point clouds, which limits their ability to capture…

We present an approach for aggregating a sparse set of views of an object in order to compute a semi-implicit 3D representation in the form of a volumetric feature grid. Key to our approach is an object-centric canonical 3D coordinate…

Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…

Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…

Point-cloud is an efficient way to represent 3D world. Analysis of point-cloud deals with understanding the underlying 3D geometric structure. But due to the lack of smooth topology, and hence the lack of neighborhood structure, standard…

We present an approach to learning features that represent the local geometry around a point in an unstructured point cloud. Such features play a central role in geometric registration, which supports diverse applications in robotics and 3D…

Quantitative tracking of features from video images is a basic technique employed in many areas of science. Here, we present a method for the tracking of features that partially overlap, in order to be able to track so-called colloidal…

The region-based Convolutional Neural Network (CNN) detectors such as Faster R-CNN or R-FCN have already shown promising results for object detection by combining the region proposal subnetwork and the classification subnetwork together.…

Efficient point cloud compression is fundamental to enable the deployment of virtual and mixed reality applications, since the number of points to code can range in the order of millions. In this paper, we present a novel data-driven…

Object parsing and segmentation from point clouds are challenging tasks because the relevant data is available only as thin structures along object boundaries or other features, and is corrupted by large amounts of noise. To handle this…

In this work, we tackle the problem of category-level online pose tracking of objects from point cloud sequences. For the first time, we propose a unified framework that can handle 9DoF pose tracking for novel rigid object instances as well…

The introduction of cheap RGB-D cameras, stereo cameras, and LIDAR devices has given the computer vision community 3D information that conventional RGB cameras cannot provide. This data is often stored as a point cloud. In this paper, we…

Deformable parts models show a great potential in tracking by principally addressing non-rigid object deformations and self occlusions, but according to recent benchmarks, they often lag behind the holistic approaches. The reason is that…

In this paper, a shape-constrained iterative algorithm is proposed to register a rigid template point-cloud to a given reference point-cloud. The algorithm embeds a shape-based similarity constraint into the principle of gravitation. The…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

In this paper, we propose deformable deep convolutional neural networks for generic object detection. This new deep learning object detection framework has innovations in multiple aspects. In the proposed new deep architecture, a new…

We present a novel method to acquire object representations from online image collections, capturing high-quality geometry and material properties of arbitrary objects from photographs with varying cameras, illumination, and backgrounds.…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

In this paper, an online adaptive model-free tracker is proposed to track single objects in video sequences to deal with real-world tracking challenges like low-resolution, object deformation, occlusion and motion blur. The novelty lies in…