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This work proposes a novel pose estimation model for object categories that can be effectively transferred to previously unseen environments. The deep convolutional network models (CNN) for pose estimation are typically trained and…

Exploiting multi-scale representations is critical to improve edge detection for objects at different scales. To extract edges at dramatically different scales, we propose a Bi-Directional Cascade Network (BDCN) structure, where an…

Point cloud, an efficient 3D object representation, has become popular with the development of depth sensing and 3D laser scanning techniques. It has attracted attention in various applications such as 3D tele-presence, navigation for…

3D point clouds acquired by scanning real-world objects or scenes have found a wide range of applications including immersive telepresence, autonomous driving, surveillance, etc. They are often perturbed by noise or suffer from low density,…

3D point clouds are discrete samples of continuous surfaces which can be used for various applications. However, the lack of true connectivity information, i.e., edge information, makes point cloud recognition challenging. Recent edge-aware…

Recently, deep Convolutional Neural Networks (CNNs) can achieve human-level performance in edge detection with the rich and abstract edge representation capacities. However, the high performance of CNN based edge detection is achieved with…

IceCloudNet is a novel method based on machine learning able to predict high-quality vertically resolved cloud ice water contents (IWC) and ice crystal number concentrations (N$_\textrm{ice}$). The predictions come at the spatio-temporal…

Many applications in robotics and human-computer interaction can benefit from understanding 3D motion of points in a dynamic environment, widely noted as scene flow. While most previous methods focus on stereo and RGB-D images as input, few…

Deep learning with 3D data has progressed significantly since the introduction of convolutional neural networks that can handle point order ambiguity in point cloud data. While being able to achieve good accuracies in various scene…

With the improvements in the object detection networks, several variations of object detection networks have been achieved impressive performance. However, the performance evaluation of most models has focused on detection accuracy, and…

Popular industrial robotic problems such as spray painting and welding require (i) conditioning on free-shape 3D objects and (ii) planning of multiple trajectories to solve the task. Yet, existing solutions make strong assumptions on the…

We present a lightweight post-processing method to refine the semantic segmentation results of point cloud sequences. Most existing methods usually segment frame by frame and encounter the inherent ambiguity of the problem: based on a…

Structural damage detection is essential for maintaining the safety and reliability of civil infrastructure. However, accurately identifying different types of structural damage from images remains challenging due to variations in damage…

We present a novel deep learning framework for flow field predictions in irregular domains when the solution is a function of the geometry of either the domain or objects inside the domain. Grid vertices in a computational fluid dynamics…

Recognizing human actions from point cloud sequence has attracted tremendous attention from both academia and industry due to its wide applications. However, most previous studies on point cloud action recognition typically require complex…

Point cloud is one of the widely used techniques for representing and storing 3D geometric data. In the past several methods have been proposed for processing point clouds. Methods such as PointNet and FoldingNet have shown promising…

This paper surveys and evaluates some popular state of the art methods for algorithmic curvature and normal estimation. In addition to surveying existing methods we also propose a new method for robust curvature estimation and evaluate it…

Reliable robotic grasping in unstructured environments is a crucial but challenging task. The main problem is to generate the optimal grasp of novel objects from partial noisy observations. This paper presents an end-to-end grasp detection…

Classification and segmentation of 3D point clouds are important tasks in computer vision. Because of the irregular nature of point clouds, most of the existing methods convert point clouds into regular 3D voxel grids before they are used…

Edge detection is typically viewed as a pixel-level classification problem mainly addressed by discriminative methods. Recently, generative edge detection methods, especially diffusion model based solutions, are initialized in the edge…