相关论文: Real-time 3D scene description using Spheres, Cone…

Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through the real-time detection of elliptic and rectangle shape…

Humans perceive and construct the surrounding world as an arrangement of simple parametric models. In particular, man-made environments commonly consist of volumetric primitives such as cuboids or cylinders. Inferring these primitives is an…

Finding the three-dimensional representation of all or a part of a scene from a single two dimensional image is a challenging task. In this paper we propose a method for identifying the pose and location of objects with circular protrusions…

3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and…

Geometry processing of 3D objects is of primary interest in many areas of computer vision and graphics, including robot navigation, 3D object recognition, classification, feature extraction, etc. The recent introduction of cheap range…

Humans perceive and construct the world as an arrangement of simple parametric models. In particular, we can often describe man-made environments using volumetric primitives such as cuboids or cylinders. Inferring these primitives is…

In this paper we describe a new technique to generate and use surfels for rendering of highly complex, polygonal 3D scenes in real time. The basic idea is to approximate complex parts of the scene by rendering a set of points (surfels). The…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

An algorithm to efficiently compute the moments of volumetric images is disclosed. The approach demonstrates a reduction in processing time by reducing the computational complexity significantly. Specifically, the algorithm reduces…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

We describe a method to parse a complex, cluttered indoor scene into primitives which offer a parsimonious abstraction of scene structure. Our primitives are simple convexes. Our method uses a learned regression procedure to parse a scene…

Point clouds obtained from photogrammetry are noisy and incomplete models of reality. We propose an evolutionary optimization methodology that is able to approximate the underlying object geometry on such point clouds. This approach assumes…

3D object proposals, quickly detected regions in a 3D scene that likely contain an object of interest, are an effective approach to improve the computational efficiency and accuracy of the object detection framework. In this work, we…

This paper proposes a segmentation-free, automatic and efficient procedure to detect general geometric quadric forms in point clouds, where clutter and occlusions are inevitable. Our everyday world is dominated by man-made objects which are…

For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…

We present a novel and effective method for detecting 3D primitives in cluttered, unorganized point clouds, without axillary segmentation or type specification. We consider the quadric surfaces for encapsulating the basic building blocks of…

This thesis presents important insights and concepts related to the topic of the extraction of geometric primitives from the edge contours of digital images. Three specific problems related to this topic have been studied, viz., polygonal…

Detecting elliptical objects from an image is a central task in robot navigation and industrial diagnosis where the detection time is always a critical issue. Existing methods are hardly applicable to these real-time scenarios of limited…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

While object semantic understanding is essential for most service robotic tasks, 3D object classification is still an open problem. Learning from artificial 3D models alleviates the cost of annotation necessary to approach this problem, but…