相关论文: Joint Embedding of 3D Scan and CAD Objects

This paper presents an end-to-end convolutional neural network (CNN) for 2D-3D exemplar detection. We demonstrate that the ability to adapt the features of natural images to better align with those of CAD rendered views is critical to the…

In this paper, we propose a new joint object detection and tracking (JoDT) framework for 3D object detection and tracking based on camera and LiDAR sensors. The proposed method, referred to as 3D DetecTrack, enables the detector and tracker…

Deep image embedding provides a way to measure the semantic similarity of two images. It plays a central role in many applications such as image search, face verification, and zero-shot learning. It is desirable to have a universal deep…

Majority of the current dimensionality reduction or retrieval techniques rely on embedding the learned feature representations onto a computable metric space. Once the learned features are mapped, a distance metric aids the bridging of gaps…

We propose spatial semantic embedding network (SSEN), a simple, yet efficient algorithm for 3D instance segmentation using deep metric learning. The raw 3D reconstruction of an indoor environment suffers from occlusions, noise, and is…

Sketch-based modeling strives to bring the ease and immediacy of drawing to the 3D world. However, while drawings are easy for humans to create, they are very challenging for computers to interpret due to their sparsity and ambiguity. We…

Current CNN-based algorithms for recovering the 3D pose of an object in an image assume knowledge about both the object category and its 2D localization in the image. In this paper, we relax one of these constraints and propose to solve the…

With the increased availability of 3D data, the need for solutions processing those also increased rapidly. However, adding dimension to already reliably accurate 2D approaches leads to immense memory consumption and higher computational…

Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of walls, which must…

Semantic segmentation of outdoor scenes is problematic when there are variations in imaging conditions. It is known that albedo (reflectance) is invariant to all kinds of illumination effects. Thus, using reflectance images for semantic…

Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with…

This paper addresses the problem of simultaneous 3D reconstruction and material recognition and segmentation. Enabling robots to recognise different materials (concrete, metal etc.) in a scene is important for many tasks, e.g. robotic…

In this work, we propose a novel Convolutional Neural Network (CNN) architecture for the joint detection and matching of feature points in images acquired by different sensors using a single forward pass. The resulting feature detector is…

Feature matching is a fundamental problem in computer vision with wide-ranging applications, including simultaneous localization and mapping (SLAM), image stitching, and 3D reconstruction. While recent advances in deep learning have…

Existing techniques to encode spatial invariance within deep convolutional neural networks only model 2D transformation fields. This does not account for the fact that objects in a 2D space are a projection of 3D ones, and thus they have…

In this paper, we propose a deep convolutional neural network for learning the embeddings of images in order to capture the notion of visual similarity. We present a deep siamese architecture that when trained on positive and negative pairs…

Various non-trivial spaces are becoming popular for embedding structured data such as graphs, texts, or images. Following spherical and hyperbolic spaces, more general product spaces have been proposed. However, searching for the best…

In this paper, we present KP-RED, a unified KeyPoint-driven REtrieval and Deformation framework that takes object scans as input and jointly retrieves and deforms the most geometrically similar CAD models from a pre-processed database to…

A significant challenge in object detection is accurate identification of an object's position in image space, whereas one algorithm with one set of parameters is usually not enough, and the fusion of multiple algorithms and/or parameters…