相关论文: Inferring 3D Articulated Models for Box Packaging …

Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various connections and joint parameters that make up each…

Robots working in human environments must be able to perceive and act on challenging objects with articulations, such as a pile of tools. Articulated objects increase the dimensionality of the pose estimation problem, and partial…

In recent years, modern techniques in deep learning and large-scale datasets have led to impressive progress in 3D instance segmentation, grasp pose estimation, and robotics. This allows for accurate detection directly in 3D scenes, object-…

We present a new deep point cloud rendering pipeline through multi-plane projections. The input to the network is the raw point cloud of a scene and the output are image or image sequences from a novel view or along a novel camera…

In order for robots to operate effectively in homes and workplaces, they must be able to manipulate the articulated objects common within environments built for and by humans. Previous work learns kinematic models that prescribe this…

To reach human performance on complex tasks, a key ability for artificial systems is to understand physical interactions between objects, and predict future outcomes of a situation. This ability, often referred to as intuitive physics, has…

A robust 3D object tracker which continuously tracks surrounding objects and estimates their trajectories is key for self-driving vehicles. Most existing tracking methods employ a tracking-by-detection strategy, which usually requires…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

The ability to estimate joint parameters is essential for various applications in robotics and computer vision. In this paper, we propose CAPT: category-level articulation estimation from a point cloud using Transformer. CAPT uses an…

3D Reconstruction of moving articulated objects without additional information about object structure is a challenging problem. Current methods overcome such challenges by employing category-specific skeletal models. Consequently, they do…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

Interference detection of arbitrary geometric objects is not a trivial task due to the heavy computational load imposed by implementation issues. The hierarchically structured bounding boxes help us to quickly isolate the contour of…

Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent…

Point Cloud Registration is the problem of aligning the corresponding points of two 3D point clouds referring to the same object. The challenges include dealing with noise and partial match of real-world 3D scans. For non-rigid objects,…

In this paper, we revisit the classical representation of 3D point clouds as linear shape models. Our key insight is to leverage deep learning to represent a collection of shapes as affine transformations of low-dimensional linear shape…

We present PointFusion, a generic 3D object detection method that leverages both image and 3D point cloud information. Unlike existing methods that either use multi-stage pipelines or hold sensor and dataset-specific assumptions,…

Roof plane segmentation from airborne LiDAR point clouds is an important technology for 3D building model reconstruction. One of the key issues of plane segmentation is how to design powerful features that can exactly distinguish adjacent…

Recent investigations on rotation invariance for 3D point clouds have been devoted to devising rotation-invariant feature descriptors or learning canonical spaces where objects are semantically aligned. Examinations of learning frameworks…

We present PIRATR, an end-to-end 3D object detection framework for robotic use cases in point clouds. Extending PI3DETR, our method streamlines parametric 3D object detection by jointly estimating multi-class 6-DoF poses and class-specific…