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Most current neural networks for reconstructing surfaces from point clouds ignore sensor poses and only operate on raw point locations. Sensor visibility, however, holds meaningful information regarding space occupancy and surface…

We present a learning-based method for 6 DoF pose estimation of rigid objects in point cloud data. Many recent learning-based approaches use primarily RGB information for detecting objects, in some cases with an added refinement step using…

Existing techniques to compress point cloud attributes leverage either geometric or video-based compression tools. We explore a radically different approach inspired by recent advances in point cloud representation learning. Point clouds…

Depth from a monocular video can enable billions of devices and robots with a single camera to see the world in 3D. In this paper, we present an approach with a differentiable flow-to-depth layer for video depth estimation. The model…

A laser scanner can easily acquire the geometric data of physical environments in the form of a point cloud. Recognizing objects from a point cloud is often required for industrial 3D reconstruction, which should include not only geometry…

In the field of autonomous driving, a variety of sensor data types exist, each representing different modalities of the same scene. Therefore, it is feasible to utilize data from other sensors to facilitate image compression. However, few…

Over the last two decades, deep learning has transformed the field of computer vision. Deep convolutional networks were successfully applied to learn different vision tasks such as image classification, image segmentation, object detection…

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…

Local density of point clouds is crucial for representing local details, but has been overlooked by existing point cloud compression methods. To address this, we propose a novel deep point cloud compression method that preserves local…

Modern agricultural applications rely more and more on deep learning solutions. However, training well-performing deep networks requires a large amount of annotated data that may not be available and in the case of 3D annotation may not…

Dense 3D visual mapping estimates as many as possible pixel depths, for each image. This results in very dense point clouds that often contain redundant and noisy information, especially for surfaces that are roughly planar, for instance,…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

We present a simple but yet effective method for learning distinctive 3D local deep descriptors (DIPs) that can be used to register point clouds without requiring an initial alignment. Point cloud patches are extracted, canonicalised with…

The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can…

Modern lidar systems can produce not only dense point clouds but also 360 degrees low-resolution images. This advancement facilitates the application of deep learning (DL) techniques initially developed for conventional RGB cameras and…

Micro-expressions are nonverbal facial expressions that reveal the covert emotions of individuals, making the micro-expression recognition task receive widespread attention. However, the micro-expression recognition task is challenging due…

Point clouds are essential for storage and transmission of 3D content. As they can entail significant volumes of data, point cloud compression is crucial for practical usage. Recently, point cloud geometry compression approaches based on…

Depth information is useful for many applications. Active depth sensors are appealing because they obtain dense and accurate depth maps. However, due to issues that range from power constraints to multi-sensor interference, these sensors…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…