相关论文: Unsupervised Learning of Shape and Pose with Diffe…

Although recent point cloud analysis achieves impressive progress, the paradigm of representation learning from a single modality gradually meets its bottleneck. In this work, we take a step towards more discriminative 3D point cloud…

Point cloud analysis is an area of increasing interest due to the development of 3D sensors that are able to rapidly measure the depth of scenes accurately. Unfortunately, applying deep learning techniques to perform point cloud analysis is…

The goal of object pose estimation is to visually determine the pose of a specific object in the RGB-D input. Unfortunately, when faced with new categories, both instance-based and category-based methods are unable to deal with unseen…

The conventional pose estimation of a 3D object usually requires the knowledge of the 3D model of the object. Even with the recent development in convolutional neural networks (CNNs), a 3D model is often necessary in the final estimation.…

Recently, learning frameworks have shown the capability of inferring the accurate shape, pose, and texture of an object from a single RGB image. However, current methods are trained on image collections of a single category in order to…

This paper introduces a novel self-supervised learning framework for enhancing 3D perception in autonomous driving scenes. Specifically, our approach, namely NCLR, focuses on 2D-3D neural calibration, a novel pretext task that estimates the…

In this paper we explore the recent topic of point cloud completion, guided by an auxiliary image. We show how it is possible to effectively combine the information from the two modalities in a localized latent space, thus avoiding the need…

The task of three-dimensional (3D) human pose estimation from a single image can be divided into two parts: (1) Two-dimensional (2D) human joint detection from the image and (2) estimating a 3D pose from the 2D joints. Herein, we focus on…

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…

3D point cloud analysis has drawn a lot of research attention due to its wide applications. However, collecting massive labelled 3D point cloud data is both time-consuming and labor-intensive. This calls for data-efficient learning methods.…

In view of the difficulty in reconstructing object details in point cloud completion, we propose a shape prior learning method for object completion. The shape priors include geometric information in both complete and the partial point…

This paper tries to address a fundamental question in point cloud self-supervised learning: what is a good signal we should leverage to learn features from point clouds without annotations? To answer that, we introduce a point cloud…

We show that denoising of 3D point clouds can be learned unsupervised, directly from noisy 3D point cloud data only. This is achieved by extending recent ideas from learning of unsupervised image denoisers to unstructured 3D point clouds.…

In contrast to the literature where local patterns in 3D point clouds are captured by customized convolutional operators, in this paper we study the problem of how to effectively and efficiently project such point clouds into a 2D image…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

Humans are able to perform fast and accurate object pose estimation even under severe occlusion by exploiting learned object model priors from everyday life. However, most recently proposed pose estimation algorithms neglect to utilize the…

We present a method that detects boundaries of parts in 3D shapes represented as point clouds. Our method is based on a graph convolutional network architecture that outputs a probability for a point to lie in an area that separates two or…

Current state-of-the-art methods cast monocular 3D human pose estimation as a learning problem by training neural networks on large data sets of images and corresponding skeleton poses. In contrast, we propose an approach that can exploit…

We present a convolutional network capable of inferring a 3D representation of a previously unseen object given a single image of this object. Concretely, the network can predict an RGB image and a depth map of the object as seen from an…

Learning to reconstruct 3D shapes using 2D images is an active research topic, with benefits of not requiring expensive 3D data. However, most work in this direction requires multi-view images for each object instance as training…