Related papers: Key-Grid: Unsupervised 3D Keypoints Detection usin…
Detecting and matching robust viewpoint-invariant keypoints is critical for visual SLAM and Structure-from-Motion. State-of-the-art learning-based methods generate training samples via homography adaptation to create 2D synthetic views with…
This paper presents a new end-to-end semi-supervised framework to learn a dense keypoint detector using unlabeled multiview images. A key challenge lies in finding the exact correspondences between the dense keypoints in multiple views…
This paper introduces KeyDiff3D, a framework for unsupervised monocular 3D keypoints estimation that accurately predicts 3D keypoints from a single image. While previous methods rely on manual annotations or calibrated multi-view images,…
Recent deep networks that directly handle points in a point set, e.g., PointNet, have been state-of-the-art for supervised learning tasks on point clouds such as classification and segmentation. In this work, a novel end-to-end deep…
In this paper, we tackle the challenging problem of 3D keypoint estimation of general objects using a novel implicit representation. Previous works have demonstrated promising results for keypoint prediction through direct coordinate…
Knowledge about the locations of keypoints of an object in an image can assist in fine-grained classification and identification tasks, particularly for the case of objects that exhibit large variations in poses that greatly influence their…
This work addresses the challenging problem of unconstrained 3D hand pose estimation using monocular RGB images. Most of the existing approaches assume some prior knowledge of hand (such as hand locations and side information) is available…
We present SKD, a novel keypoint detector that uses saliency to determine the best candidates from a point cloud for tasks such as registration and reconstruction. The approach can be applied to any differentiable deep learning descriptor…
Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…
Detecting 3D keypoints from point clouds is important for shape reconstruction, while this work investigates the dual question: can shape reconstruction benefit 3D keypoint detection? Existing methods either seek salient features according…
In this paper, we propose the USIP detector: an Unsupervised Stable Interest Point detector that can detect highly repeatable and accurately localized keypoints from 3D point clouds under arbitrary transformations without the need for any…
This paper presents a novel approach to learn and detect distinctive regions on 3D shapes. Unlike previous works, which require labeled data, our method is unsupervised. We conduct the analysis on point sets sampled from 3D shapes, then…
Structured 3D representations such as keypoints and meshes offer compact, expressive descriptions of deformable objects, jointly capturing geometric and topological information useful for downstream tasks such as dynamics modeling and…
Monocular 3D object detection is well-known to be a challenging vision task due to the loss of depth information; attempts to recover depth using separate image-only approaches lead to unstable and noisy depth estimates, harming 3D…
Understanding point clouds is of great importance. Many previous methods focus on detecting salient keypoints to identity structures of point clouds. However, existing methods neglect the semantics of points selected, leading to poor…
We study a challenging problem of unsupervised discovery of object landmarks. Many recent methods rely on bottlenecks to generate 2D Gaussian heatmaps however, these are limited in generating informed heatmaps while training, presumably due…
Fast and robust object grasping in clutter is a crucial component of robotics. Most current works resort to the whole observed point cloud for 6-Dof grasp generation, ignoring the guidance information excavated from global semantics, thus…
Semantic keypoints provide concise abstractions for a variety of visual understanding tasks. Existing methods define semantic keypoints separately for each category with a fixed number of semantic labels in fixed indices. As a result, this…
In this work, we propose a novel single-shot and keypoints-based framework for monocular 3D objects detection using only RGB images, called KM3D-Net. We design a fully convolutional model to predict object keypoints, dimension, and…
In general, human pose estimation methods are categorized into two approaches according to their architectures: regression (i.e., heatmap-free) and heatmap-based methods. The former one directly estimates precise coordinates of each…