Related papers: RecNet: An Invertible Point Cloud Encoding through…

Acquisition and processing of point clouds (PCs) is a crucial enabler for many emerging applications reliant on 3D spatial data, such as robot navigation, autonomous vehicles, and augmented reality. In most scenarios, PCs acquired by remote…

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…

Outdoor maps and navigation information delivered by modern services and technologies like Google Maps and Garmin navigators have revolutionized the lifestyle of many people. Motivated by the desire for similar navigation systems for indoor…

Point cloud segmentation (PCS) aims to separate points into different and meaningful groups. The task plays an important role in robotics because PCS enables robots to understand their physical environments directly. To process sparse and…

We present a new method for efficient high-quality image segmentation of objects and scenes. By analogizing classical computer graphics methods for efficient rendering with over- and undersampling challenges faced in pixel labeling tasks,…

Point cloud registration is a fundamental problem in 3D computer vision. Outdoor LiDAR point clouds are typically large-scale and complexly distributed, which makes the registration challenging. In this paper, we propose an efficient…

Semantic scene understanding from point clouds is particularly challenging as the points reflect only a sparse set of the underlying 3D geometry. Previous works often convert point cloud into regular grids (e.g. voxels or bird-eye view…

This paper introduces Attentive Implicit Representation Networks (AIR-Nets), a simple, but highly effective architecture for 3D reconstruction from point clouds. Since representing 3D shapes in a local and modular fashion increases…

3D point cloud interpretation is a challenging task due to the randomness and sparsity of the component points. Many of the recently proposed methods like PointNet and PointCNN have been focusing on learning shape descriptions from point…

Place recognition is an important task for robots and autonomous cars to localize themselves and close loops in pre-built maps. While single-modal sensor-based methods have shown satisfactory performance, cross-modal place recognition that…

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,…

The ability for robots to comprehend and execute manipulation tasks based on natural language instructions is a long-term goal in robotics. The dominant approaches for language-guided manipulation use 2D image representations, which face…

The radio wave propagation channel is central to the performance of wireless communication systems. In this paper, we introduce a novel machine learning-empowered methodology for wireless channel modeling. The key ingredients include a…

Cloud-edge collaboration enhances machine perception by combining the strengths of edge and cloud computing. Edge devices capture raw data (e.g., 3D point clouds) and extract salient features, which are sent to the cloud for deeper analysis…

In recent years, Convolutional Neural Networks (CNN) have proven to be efficient analysis tools for processing point clouds, e.g., for reconstruction, segmentation and classification. In this paper, we focus on the classification of edges…

In real-world scenarios, images captured often suffer from blurring, noise, and other forms of image degradation, and due to sensor limitations, people usually can only obtain low dynamic range images. To achieve high-quality images,…

Deep learning approaches to 3D shape segmentation are typically formulated as a multi-class labeling problem. Existing models are trained for a fixed set of labels, which greatly limits their flexibility and adaptivity. We opt for top-down…

Reversible image conversion (RIC) aims to build a reversible transformation between specific visual content (e.g., short videos) and an embedding image, where the original content can be restored from the embedding when necessary. This work…

In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…

Advances in deep learning techniques have allowed recent work to reconstruct the shape of a single object given only one RBG image as input. Building on common encoder-decoder architectures for this task, we propose three extensions: (1)…