相关论文: ASIST: Automatic Semantically Invariant Scene Tran…

Scanning real-life scenes with modern registration devices typically give incomplete point cloud representations, mostly due to the limitations of the scanning process and 3D occlusions. Therefore, completing such partial representations…

Image features detection and description is a longstanding topic in computer vision and pattern recognition areas. The Scale Invariant Feature Transform (SIFT) is probably the most popular and widely demanded feature descriptor which…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

This paper studies referring video object segmentation (RVOS) by boosting video-level visual-linguistic alignment. Recent approaches model the RVOS task as a sequence prediction problem and perform multi-modal interaction as well as…

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 proposes an adaptive margin contrastive learning method for 3D semantic segmentation on point clouds. Most existing methods use equally penalized objectives, which ignore the per-point ambiguities and less discriminated features…

Robust and accurate pose estimation in unknown environments is an essential part of robotic applications. We focus on LiDAR-based point-to-point ICP combined with effective semantic information. This paper proposes a novel semantic…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…

Performing data augmentation for learning deep neural networks is known to be important for training visual recognition systems. By artificially increasing the number of training examples, it helps reducing overfitting and improves…

State-of-the-art Style Transfer methods often leverage pre-trained encoders optimized for discriminative tasks, which may not be ideal for image synthesis. This can result in significant artifacts and loss of photorealism. Motivated by the…

Object re-identification (ReID) from images plays a critical role in application domains of image retrieval (surveillance, retail analytics, etc.) and multi-object tracking (autonomous driving, robotics, etc.). However, systems that…

Learning to insert an object instance into an image in a semantically coherent manner is a challenging and interesting problem. Solving it requires (a) determining a location to place an object in the scene and (b) determining its…

Reconstruction of geometry based on different input modes, such as images or point clouds, has been instrumental in the development of computer aided design and computer graphics. Optimal implementations of these applications have…

We introduce Point2Skeleton, an unsupervised method to learn skeletal representations from point clouds. Existing skeletonization methods are limited to tubular shapes and the stringent requirement of watertight input, while our method aims…

In this paper, we present a novel paradigm to enhance the ability of object detector, e.g., expanding categories or improving detection performance, by training on synthetic dataset generated from diffusion models. Specifically, we…

Panoptic segmentation is the combination of semantic and instance segmentation: assign the points in a 3D point cloud to semantic categories and partition them into distinct object instances. It has many obvious applications for outdoor…

Unsupervised representation learning has significantly advanced various machine learning tasks. In the computer vision domain, state-of-the-art approaches utilize transformations like random crop and color jitter to achieve invariant…

We consider the problem of unsupervised domain adaptation for semantic segmentation by easing the domain shift between the source domain (synthetic data) and the target domain (real data) in this work. State-of-the-art approaches prove that…