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This paper presents a learning-based approach for accurately estimating the 3D shape of flexible continuum robots subjected to external loads. The proposed method introduces a spatiotemporal neural network architecture that fuses…

Recognition of occluded objects in unseen indoor environments is a challenging problem for mobile robots. This work proposes a new slicing-based topological descriptor that captures the 3D shape of object point clouds to address this…

This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…

Many methods exist to model and track deformable one-dimensional objects (e.g., cables, ropes, and threads) across a stream of video frames. However, these methods depend on the existence of some initial conditions. To the best of our…

Point clouds are the native output of many real-world 3D sensors. To borrow the success of 2D convolutional network architectures, a majority of popular 3D perception models voxelize the points, which can result in a loss of local geometric…

Data organization via forming local regions is an integral part of deep learning networks that process 3D point clouds in a hierarchical manner. At each level, the point cloud is sampled to extract representative points and these points are…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

Most LiDAR odometry algorithms estimate the transformation between two consecutive frames by estimating the rotation and translation in an intervening fashion. In this paper, we propose our Decoupled LiDAR Odometry (DeLiO), which -- for the…

Generative models that produce point clouds have emerged as a powerful tool to represent 3D surfaces, and the best current ones rely on learning an ensemble of parametric representations. Unfortunately, they offer no control over the…

Object segmentation in three-dimensional (3-D) point clouds is a critical task for robots capable of 3-D perception. Despite the impressive performance of deep learning-based approaches on object segmentation in 2-D images, deep learning…

Object pose estimation from a single view remains a challenging problem. In particular, partial observability, occlusions, and object symmetries eventually result in pose ambiguity. To account for this multimodality, this work proposes…

Deformable objects present a formidable challenge for robotic manipulation due to the lack of canonical low-dimensional representations and the difficulty of capturing, predicting, and controlling such objects. We construct compact…

The convenience of 3D sensors has led to an increase in the use of 3D point clouds in various applications. However, the differences in acquisition devices or scenarios lead to divergence in the data distribution of point clouds, which…

LiDAR odometry (LO) describes the task of finding an alignment of subsequent LiDAR point clouds. This alignment can be used to estimate the motion of the platform where the LiDAR sensor is mounted on. Currently, on the well-known KITTI…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

Real-time state tracking of Deformable Linear Objects (DLOs) is critical for enabling robotic manipulation of DLOs in industrial assembly, medical procedures, and daily-life applications. However, the high-dimensional configuration space,…

This paper introduces a 3D point cloud sequence learning model based on inconsistent spatio-temporal propagation for LiDAR odometry, termed DSLO. It consists of a pyramid structure with a spatial information reuse strategy, a sequential…

Information inside visual and LiDAR data is well complementary derived from the fine-grained texture of images and massive geometric information in point clouds. However, it remains challenging to explore effective visual-LiDAR fusion,…

Processing point clouds using deep neural networks is still a challenging task. Most existing models focus on object detection and registration with deep neural networks using point clouds. In this paper, we propose a deep model that learns…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…