相关论文: Rotation Invariant Convolutions for 3D Point Cloud…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

If robots could reliably manipulate the shape of 3D deformable objects, they could find applications in fields ranging from home care to warehouse fulfillment to surgical assistance. Analytic models of elastic, 3D deformable objects require…

Motivated by the intuition that one can transform two aligned point clouds to each other more easily and meaningfully than a misaligned pair, we propose CorrNet3D -- the first unsupervised and end-to-end deep learning-based framework -- to…

Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or…

Incomplete point clouds captured by 3D sensors often result in the loss of both geometric and semantic information. Most existing point cloud completion methods are built on rotation-variant frameworks trained with data in canonical poses,…

Point cloud recognition is an essential task in industrial robotics and autonomous driving. Recently, several point cloud processing models have achieved state-of-the-art performances. However, these methods lack rotation robustness, and…

Point cloud, an efficient 3D object representation, has become popular with the development of depth sensing and 3D laser scanning techniques. It has attracted attention in various applications such as 3D tele-presence, navigation for…

Graph convolutional networks are a new promising learning approach to deal with data on irregular domains. They are predestined to overcome certain limitations of conventional grid-based architectures and will enable efficient handling of…

Point cloud analysis is very challenging, as the shape implied in irregular points is difficult to capture. In this paper, we propose RS-CNN, namely, Relation-Shape Convolutional Neural Network, which extends regular grid CNN to irregular…

Recent advances in imitation learning and vision-language models highlight the need for high-fidelity tactile perception, with 6-DoF tactile object pose estimation providing a crucial foundation for precise robotic manipulation. We…

We propose a novel deep learning framework for predicting permeability of porous media from their digital images. Unlike convolutional neural networks, instead of feeding the whole image volume as inputs to the network, we model the…

In recent years, the challenge of 3D shape analysis within point cloud data has gathered significant attention in computer vision. Addressing the complexities of effective 3D information representation and meaningful feature extraction for…

Performance of neural networks can be significantly improved by encoding known invariance for particular tasks. Many image classification tasks, such as those related to cellular imaging, exhibit invariance to rotation. We present a novel…

As a popular geometric representation, point clouds have attracted much attention in 3D vision, leading to many applications in autonomous driving and robotics. One important yet unsolved issue for learning on point cloud is that point…

3D anomaly detection (AD) is a crucial task in computer vision, aiming to identify anomalous points or regions from point cloud data. However, existing methods may encounter challenges when handling point clouds with changes in orientation…

In this paper, we deal with the problem to predict the future 3D motions of 3D object scans from previous two consecutive frames. Previous methods mostly focus on sparse motion prediction in the form of skeletons. While in this paper we…

Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…

Due to limitations in acquisition equipment, noise perturbations often corrupt 3-D point clouds, hindering down-stream tasks such as surface reconstruction, rendering, and further processing. Existing 3-D point cloud denoising methods…

In this paper, we propose a novel deep architecture tailored for 3D point cloud applications, named as SPE-Net. The embedded ``Selective Position Encoding (SPE)'' procedure relies on an attention mechanism that can effectively attend to the…

Many applications require the robustness, or ideally the invariance, of a neural network to certain transformations of input data. Most commonly, this requirement is addressed by either augmenting the training data, using adversarial…