相关论文: AlignNet-3D: Fast Point Cloud Registration of Part…

3D object detection has become indispensable in the field of autonomous driving. To date, gratifying breakthroughs have been recorded in 3D object detection research, attributed to deep learning. However, deep learning algorithms are…

Monocular multi-object detection and localization in 3D space has been proven to be a challenging task. The MoNet3D algorithm is a novel and effective framework that can predict the 3D position of each object in a monocular image and draw a…

Compared to 2D object bounding-box labeling, it is very difficult for humans to annotate 3D object poses, especially when depth images of scenes are unavailable. This paper investigates whether we can estimate the object poses effectively…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

3D single object tracking (SOT) is a crucial task in fields of mobile robotics and autonomous driving. Traditional motion-based approaches achieve target tracking by estimating the relative movement of target between two consecutive frames.…

We present a novel appearance-based approach for pose estimation of a human hand using the point clouds provided by the low-cost Microsoft Kinect sensor. Both the free-hand case, in which the hand is isolated from the surrounding…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

Part segmentation and motion estimation are two fundamental problems for articulated object motion analysis. In this paper, we present a method to solve these two problems jointly from a sequence of observed point clouds of a single…

Mobile robots need to create high-definition 3D maps of the environment for applications such as remote surveillance and infrastructure mapping. Accurate semantic processing of the acquired 3D point cloud is critical for allowing the robot…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

We present an improved version of PointRCNN for 3D object detection, in which a multi-branch backbone network is adopted to handle the non-uniform density of point clouds. An uncertainty-based sampling policy is proposed to deal with the…

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…

Point cloud 3D object detection has recently received major attention and becomes an active research topic in 3D computer vision community. However, recognizing 3D objects in LiDAR (Light Detection and Ranging) is still a challenge due to…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

3D point cloud segmentation has a wide range of applications in areas such as autonomous driving, augmented reality, virtual reality and digital twins. The point cloud data collected in real scenes often contain small objects and categories…

3D object detection often involves complicated training and testing pipelines, which require substantial domain knowledge about individual datasets. Inspired by recent non-maximum suppression-free 2D object detection models, we propose a 3D…

We present a new combined approach for monocular model-based 3D tracking. A preliminary object pose is estimated by using a keypoint-based technique. The pose is then refined by optimizing the contour energy function. The energy determines…

3D point cloud has been widely used in many mobile application scenarios, including autonomous driving and 3D sensing on mobile devices. However, existing 3D point cloud models tend to be large and cumbersome, making them hard to deploy on…

3D object detection from LiDAR point cloud is a challenging problem in 3D scene understanding and has many practical applications. In this paper, we extend our preliminary work PointRCNN to a novel and strong point-cloud-based 3D object…

Much progress has been made on the task of learning-based 3D point cloud registration, with existing methods yielding outstanding results on standard benchmarks, such as ModelNet40, even in the partial-to-partial matching scenario.…