相关论文: Endowing Deep 3D Models with Rotation Invariance B…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Rotation invariance is essential for precise, object-level segmentation in UAV aerial imagery, where targets can have arbitrary orientations and exhibit fine-scale details. Conventional segmentation architectures like U-Net rely on…

In [1], we have presented the theoretical background for finding the Elementary Invariants for a 3D system of first order rational differential equations (1ODEs). We have also provided an algorithm to find such Invariants. Here we introduce…

Omnidirectional images and spherical representations of $3D$ shapes cannot be processed with conventional 2D convolutional neural networks (CNNs) as the unwrapping leads to large distortion. Using fast implementations of spherical and…

In comparison to classical shallow representation learning techniques, deep neural networks have achieved superior performance in nearly every application benchmark. But despite their clear empirical advantages, it is still not well…

We present REMM, a rotation-equivariant framework for end-to-end multimodal image matching, which fully encodes rotational differences of descriptors in the whole matching pipeline. Previous learning-based methods mainly focus on extracting…

Spatially localized deformation components are very useful for shape analysis and synthesis in 3D geometry processing. Several methods have recently been developed, with an aim to extract intuitive and interpretable deformation components.…

We design algorithms for Robust Principal Component Analysis (RPCA) which consists in decomposing a matrix into the sum of a low rank matrix and a sparse matrix. We propose a deep unrolled algorithm based on an accelerated alternating…

Large intra-class variation is the result of changes in multiple object characteristics. Images, however, only show the superposition of different variable factors such as appearance or shape. Therefore, learning to disentangle and…

Rotation invariance has been studied in the computer vision community primarily in the context of small in-plane rotations. This is usually achieved by building invariant image features. However, the problem of achieving invariance for…

Defect detection is a basic and essential task in automatic parts production, especially for automotive engine precision parts. In this paper, we propose a new idea to construct a deep convolutional network combining related knowledge of…

Unsupervised learning makes manifest the underlying structure of data without curated training and specific problem definitions. However, the inference of relationships between data points is frustrated by the `curse of dimensionality' in…

We present a novel learning approach to recover the 6D poses and sizes of unseen object instances from an RGB-D image. To handle the intra-class shape variation, we propose a deep network to reconstruct the 3D object model by explicitly…

Estimating intrinsic dimensionality of data is a classic problem in pattern recognition and statistics. Principal Component Analysis (PCA) is a powerful tool in discovering dimensionality of data sets with a linear structure; it, however,…

As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…

Impressive progress in 3D shape extraction led to representations that can capture object geometries with high fidelity. In parallel, primitive-based methods seek to represent objects as semantically consistent part arrangements. However,…

We introduce InverseFaceNet, a deep convolutional inverse rendering framework for faces that jointly estimates facial pose, shape, expression, reflectance and illumination from a single input image. By estimating all parameters from just a…

Principal component analysis (PCA) is a fundamental technique for dimensionality reduction and denoising; however, its application to three-dimensional data with arbitrary orientations -- common in structural biology -- presents significant…

We propose a local-to-global representation learning algorithm for 3D point cloud data, which is appropriate to handle various geometric transformations, especially rotation, without explicit data augmentation with respect to the…

Existing 3D surface representation approaches are unable to accurately classify pixels and their orientation lying on the boundary of an object. Thus resulting in coarse representations which usually require post-processing steps to extract…