相关论文: Shape Registration with Directional Data

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and…

This paper proposes a novel training model based on shape and appearance features for object segmentation in images and videos. Whereas most such models rely on two-dimensional appearance templates or a finite set of descriptors, our…

We describe a convex programming framework for pose estimation in 2D/3D point-set registration with unknown point correspondences. We give two mixed-integer nonlinear program (MINP) formulations of the 2D/3D registration problem when there…

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…

Rotation representations are foundational in fields such as computer graphics, robotics, and machine learning, where precise and efficient modeling of 3D orientations is critical. This paper comprehensively investigates diverse…

Multimodal registration is a challenging problem in medical imaging due the high variability of tissue appearance under different imaging modalities. The crucial component here is the choice of the right similarity measure. We make a step…

Convolutional networks are successful due to their equivariance/invariance under translations. However, rotatable data such as images, volumes, shapes, or point clouds require processing with equivariance/invariance under rotations in cases…

These lecture notes explain the geometry and discuss some of the analytical questions underlying image registration within the framework of large deformation diffeomorphic metric mapping (LDDMM) used in computational anatomy.

Learning useful representations is a key ingredient to the success of modern machine learning. Currently, representation learning mostly relies on embedding data into Euclidean space. However, recent work has shown that data in some domains…

We will propose a new algorithm for finding critical points of cost functions defined on a differential manifold. We will lift the initial cost function to a manifold that can be embedded in a Riemannian manifold (Euclidean space) and will…

We present a method to match three dimensional shapes under non-isometric deformations, topology changes and partiality. We formulate the problem as matching between a set of pair-wise and point-wise descriptors, imposing a continuity prior…

In this article, we study curvature-like feature value of data sets in Euclidean spaces. First, we formulate such curvature functions with desirable properties under the manifold hypothesis. Then we make a test property for the validity of…

This paper analyzes the robustness of recent 3D shape descriptors to SO(3) rotations, something that is fundamental to shape modeling. Specifically, we formulate the task of rotated 3D object instance detection. To do so, we consider a…

Non-rigid registration is a necessary but challenging task in medical imaging studies. Recently, unsupervised registration models have shown good performance, but they often require a large-scale training dataset and long training times.…

LiDAR registration is a fundamental task in robotic mapping and localization. A critical component of aligning two point clouds is identifying robust point correspondences using point descriptors. This step becomes particularly challenging…

Object functionality is often expressed through part articulation -- as when the two rigid parts of a scissor pivot against each other to perform the cutting function. Such articulations are often similar across objects within the same…

Designing flat sheets that can be made to deform into 3D shapes is an area of intense research with applications in micromachines, soft robotics, and medical implants. Thus far, such sheets were designed to adopt a single target shape.…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

In this paper, we address the problem of orientation that naturally arises when representing shapes like curves or surfaces as currents. In the field of computational anatomy, the framework of currents has indeed proved very efficient to…