相关论文: Scene Recomposition by Learning-based ICP

In the context of 3D mapping, larger and larger point clouds are acquired with LIDAR sensors. The Iterative Closest Point (ICP) algorithm is used to align these point clouds. However, its complexity is directly dependent of the number of…

Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…

Understanding 3D scenes goes beyond simply recognizing objects; it requires reasoning about the spatial and semantic relationships between them. Current 3D scene-language models often struggle with this relational understanding,…

Compositional 3D scene synthesis has diverse applications across a spectrum of industries such as robotics, films, and video games, as it closely mirrors the complexity of real-world multi-object environments. Conventional works typically…

Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…

Recently, learning-based ego-motion estimation approaches have drawn strong interest from studies mostly focusing on visual perception. These groundbreaking works focus on unsupervised learning for odometry estimation but mostly for visual…

Traditionally, 3D indoor scene reconstruction from posed images happens in two phases: per-image depth estimation, followed by depth merging and surface reconstruction. Recently, a family of methods have emerged that perform reconstruction…

In this paper, we propose an adaptive keyframe selection method for improved 3D scene reconstruction in dynamic environments. The proposed method integrates two complementary modules: an error-based selection module utilizing photometric…

Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…

In the presence of occlusions and measurement noise, geometrically accurate scene reconstructions -- which fit the sensor data -- can still be physically incorrect. For instance, when estimating the poses and shapes of objects in the scene…

Scene-dependent adaptive compressive sensing (CS) has been a long pursuing goal which has huge potential in significantly improving the performance of CS. However, without accessing to the ground truth image, how to design the…

We present a novel scalable framework for image change detection (ICD) from an on-board 3D imagery system. We argue that existing ICD systems are constrained by the time required to align a given query image with individual reference image…

In this paper, we present a novel algorithm for point cloud registration for range sensors capable of measuring per-return instantaneous radial velocity: Doppler ICP. Existing variants of ICP that solely rely on geometry or other features…

Digitising the 3D world into a clean, CAD model-based representation has important applications for augmented reality and robotics. Current state-of-the-art methods are computationally intensive as they individually encode each detected…

Person re-identification (re-ID) aims to accurately re- trieve a person from a large-scale database of images cap- tured across multiple cameras. Existing works learn deep representations using a large training subset of unique per- sons.…

Scene parsing aims to recognize the object category of every pixel in scene images, and it plays a central role in image content understanding and computer vision applications. However, accurate scene parsing from unconstrained real-world…

Most existing GAN inversion methods either achieve accurate reconstruction but lack editability or offer strong editability at the cost of fidelity. Hence, how to balance the distortioneditability trade-off is a significant challenge for…

Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene…

Recently, there is a vast interest in developing image feature learning methods that are independent of the training data, such as deep image prior, InGAN, SinGAN, and DCIL. These methods are unsupervised and are used to perform low-level…

With robots increasingly collaborating with humans in everyday tasks, it is important to take steps toward robotic systems capable of understanding the environment. This work focuses on scene understanding to detect pick and place tasks…