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Large-scale point cloud generated from 3D sensors is more accurate than its image-based counterpart. However, it is seldom used in visual pose estimation due to the difficulty in obtaining 2D-3D image to point cloud correspondences. In this…

3D shape representation and its processing have substantial effects on 3D shape recognition. The polygon mesh as a 3D shape representation has many advantages in computer graphics and geometry processing. However, there are still some…

In contrast to numerous NLP and 2D vision foundational models, learning a 3D foundational model poses considerably greater challenges. This is primarily due to the inherent data variability and diversity of downstream tasks. In this paper,…

A major bottleneck of pedestrian detection lies on the sharp performance deterioration in the presence of small-size pedestrians that are relatively far from the camera. Motivated by the observation that pedestrians of disparate spatial…

Accurate classification of fine-grained images remains a challenge in backbones based on convolutional operations or self-attention mechanisms. This study proposes novel dual-current neural networks (DCNN), which combine the advantages of…

In this paper we study the application of convolutional neural networks for jointly detecting objects depicted in still images and estimating their 3D pose. We identify different feature representations of oriented objects, and energies…

Large-scale pre-training holds the promise to advance 3D medical object detection, a crucial component of accurate computer-aided diagnosis. Yet, it remains underexplored compared to segmentation, where pre-training has already demonstrated…

3D face recognition has shown its potential in many application scenarios. Among numerous 3D face recognition methods, deep-learning-based methods have developed vigorously in recent years. In this paper, an end-to-end deep learning network…

We present Deformable PV-RCNN, a high-performing point-cloud based 3D object detector. Currently, the proposal refinement methods used by the state-of-the-art two-stage detectors cannot adequately accommodate differing object scales,…

We present a novel deep architecture termed templateNet for depth based object instance recognition. Using an intermediate template layer we exploit prior knowledge of an object's shape to sparsify the feature maps. This has three…

Accurately detecting objects in the environment is a key challenge for autonomous vehicles. However, obtaining annotated data for detection is expensive and time-consuming. We introduce PatchContrast, a novel self-supervised point cloud…

We address the problem of learning accurate 3D shape and camera pose from a collection of unlabeled category-specific images. We train a convolutional network to predict both the shape and the pose from a single image by minimizing the…

Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…

The objective of this paper is 3D shape understanding from single and multiple images. To this end, we introduce a new deep-learning architecture and loss function, SilNet, that can handle multiple views in an order-agnostic manner. The…

We introduce a novel method for 3D object detection and pose estimation from color images only. We first use segmentation to detect the objects of interest in 2D even in presence of partial occlusions and cluttered background. By contrast…

Among 2D convolutional networks on point clouds, point-based approaches consume point clouds of fixed size directly. By analysis of PointNet, a pioneer in introducing deep learning into point sets, we reveal that current point-based methods…

Humans are able to perform fast and accurate object pose estimation even under severe occlusion by exploiting learned object model priors from everyday life. However, most recently proposed pose estimation algorithms neglect to utilize the…

Keypoint detection is the foundation of many computer vision tasks, including image registration, structure-from-motion, 3D reconstruction, visual odometry, and SLAM. Traditional detectors (SIFT, ORB, BRISK, FAST, etc.) and learning-based…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

3D object detection from LiDAR data for autonomous driving has been making remarkable strides in recent years. Among the state-of-the-art methodologies, encoding point clouds into a bird's eye view (BEV) has been demonstrated to be both…