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If robots could reliably manipulate the shape of 3D deformable objects, they could find applications in fields ranging from home care to warehouse fulfillment to surgical assistance. Analytic models of elastic, 3D deformable objects require…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

Generative models have proven effective at modeling 3D shapes and their statistical variations. In this paper we investigate their application to point clouds, a 3D shape representation widely used in computer vision for which, however,…

Exploiting past 3D LiDAR scans to predict future point clouds is a promising method for autonomous mobile systems to realize foresighted state estimation, collision avoidance, and planning. In this paper, we address the problem of…

We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…

The interest in 3D dynamical tracking is growing in fields such as robotics, biology and fluid dynamics. Recently, a major source of progress in 3D tracking has been the study of collective behaviour in biological systems, where the…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Implicit neural networks have been successfully used for surface reconstruction from point clouds. However, many of them face scalability issues as they encode the isosurface function of a whole object or scene into a single latent vector.…

Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…

Deformable object manipulation tasks have long been regarded as challenging robotic problems. However, until recently very little work has been done on the subject, with most robotic manipulation methods being developed for rigid objects.…

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.…

In this paper, we propose a point cloud classification method based on graph neural network and manifold learning. Different from the conventional point cloud analysis methods, this paper uses manifold learning algorithms to embed point…

Lidar based 3D object detection is inevitable for autonomous driving, because it directly links to environmental understanding and therefore builds the base for prediction and motion planning. The capacity of inferencing highly sparse 3D…

This work proposes DOFS, a pilot dataset of 3D deformable objects (DOs) (e.g., elasto-plastic objects) with full spatial information (i.e., top, side, and bottom information) using a novel and low-cost data collection platform with a…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

Existing networks directly learn feature representations on 3D point clouds for shape analysis. We argue that 3D point clouds are highly redundant and hold irregular (permutation-invariant) structure, which makes it difficult to achieve…

An efficient 3D point cloud learning architecture, named EfficientLO-Net, for LiDAR odometry is first proposed in this paper. In this architecture, the projection-aware representation of the 3D point cloud is proposed to organize the raw 3D…

In contrast to the literature where local patterns in 3D point clouds are captured by customized convolutional operators, in this paper we study the problem of how to effectively and efficiently project such point clouds into a 2D image…

This paper addresses the challenge of perceiving complete object shapes through visual perception. While prior studies have demonstrated encouraging outcomes in segmenting the visible parts of objects within a scene, amodal segmentation, in…

Point cloud compression plays a crucial role in reducing the huge cost of data storage and transmission. However, distortions can be introduced into the decompressed point clouds due to quantization. In this paper, we propose a novel…