相关论文: Multi-level 3D CNN for Learning Multi-scale Spatia…

Voxel is an important format to represent geometric data, which has been widely used for 3D deep learning in shape analysis due to its generalization ability and regular data format. However, fine-grained tasks like part segmentation…

Many recent works on 3D object detection have focused on designing neural network architectures that can consume point cloud data. While these approaches demonstrate encouraging performance, they are typically based on a single modality and…

Recognising in what type of environment one is located is an important perception task. For instance, for a robot operating in indoors it is helpful to be aware whether it is in a kitchen, a hallway or a bedroom. Existing approaches attempt…

We present a unified, efficient and effective framework for point-cloud based 3D object detection. Our two-stage approach utilizes both voxel representation and raw point cloud data to exploit respective advantages. The first stage network,…

Explainability is an important factor to drive user trust in the use of neural networks for tasks with material impact. However, most of the work done in this area focuses on image analysis and does not take into account 3D data. We extend…

Representations are crucial for a robot to learn effective navigation policies. Recent work has shown that mid-level perceptual abstractions, such as depth estimates or 2D semantic segmentation, lead to more effective policies when provided…

Learning implicit representations has been a widely used solution for surface reconstruction from 3D point clouds. The latest methods infer a distance or occupancy field by overfitting a neural network on a single point cloud. However,…

The quality of life of many people could be improved by autonomous humanoid robots in the home. To function in the human world, a humanoid household robot must be able to locate itself and perceive the environment like a human; scene…

Conventional methods of 3D object generative modeling learn volumetric predictions using deep networks with 3D convolutional operations, which are direct analogies to classical 2D ones. However, these methods are computationally wasteful in…

Point cloud segmentation and classification are some of the primary tasks in 3D computer vision with applications ranging from augmented reality to robotics. However, processing point clouds using deep learning-based algorithms is quite…

Strong evidence suggests that humans perceive the 3D world by parsing visual scenes and objects into part-whole hierarchies. Although deep neural networks have the capability of learning powerful multi-level representations, they can not…

In the task of Object Recognition, there exists a dichotomy between the categorization of objects and estimating object pose, where the former necessitates a view-invariant representation, while the latter requires a representation capable…

Object recognition systems are usually trained and evaluated on high resolution images. However, in real world applications, it is common that the images have low resolutions or have small sizes. In this study, we first track the…

Object detection in challenging situations such as scale variation, occlusion, and truncation depends not only on feature details but also on contextual information. Most previous networks emphasize too much on detailed feature extraction…

Convolutional Neural Network (CNN)-based machine learning systems have made breakthroughs in feature extraction and image recognition tasks in two dimensions (2D). Although there is significant ongoing work to apply CNN technology to…

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…

We present a novel two-stage fully sparse convolutional 3D object detection framework, named CAGroup3D. Our proposed method first generates some high-quality 3D proposals by leveraging the class-aware local group strategy on the object…

We propose a neural network for 3D point cloud processing that exploits `spherical' convolution kernels and octree partitioning of space. The proposed metric-based spherical kernels systematically quantize point neighborhoods to identify…

Learning local descriptors is an important problem in computer vision. While there are many techniques for learning local patch descriptors for 2D images, recently efforts have been made for learning local descriptors for 3D points. The…

We propose the Variational Shape Learner (VSL), a generative model that learns the underlying structure of voxelized 3D shapes in an unsupervised fashion. Through the use of skip-connections, our model can successfully learn and infer a…