相关论文: InSphereNet: a Concise Representation and Classifi…

Rotation estimation of high precision from an RGB-D object observation is a huge challenge in 6D object pose estimation, due to the difficulty of learning in the non-linear space of SO(3). In this paper, we propose a novel rotation…

Training deep models for semantic scene completion (SSC) is challenging due to the sparse and incomplete input, a large quantity of objects of diverse scales as well as the inherent label noise for moving objects. To address the…

We propose a method for instance-level segmentation that uses RGB-D data as input and provides detailed information about the location, geometry and number of individual objects in the scene. This level of understanding is fundamental for…

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…

This paper introduces a deep architecture for segmenting 3D objects into their labeled semantic parts. Our architecture combines image-based Fully Convolutional Networks (FCNs) and surface-based Conditional Random Fields (CRFs) to yield…

Implicit surface representations, such as signed-distance functions, combined with deep learning have led to impressive models which can represent detailed shapes of objects with arbitrary topology. Since a continuous function is learned,…

We present a new approach to 3D object representation where a neural network encodes the geometry of an object directly into the weights and biases of a second 'mapping' network. This mapping network can be used to reconstruct an object by…

We present PartNet: a consistent, large-scale dataset of 3D objects annotated with fine-grained, instance-level, and hierarchical 3D part information. Our dataset consists of 573,585 part instances over 26,671 3D models covering 24 object…

3D shape representation and its processing have substantial effects on 3D shape recognition. The polygon mesh as a 3D shape representation has many advantages in computer graphics and geometry processing. However, there are still some…

We consider the problem of scaling deep generative shape models to high-resolution. Drawing motivation from the canonical view representation of objects, we introduce a novel method for the fast up-sampling of 3D objects in voxel space…

Recently introduced implicit field representations offer an effective way of generating 3D object shapes. They leverage implicit decoder trained to take a 3D point coordinate concatenated with a shape encoding and to output a value which…

Differentiable rendering is an essential operation in modern vision, allowing inverse graphics approaches to 3D understanding to be utilized in modern machine learning frameworks. Explicit shape representations (voxels, point clouds, or…

Deep learning techniques for point cloud data have demonstrated great potentials in solving classical problems in 3D computer vision such as 3D object classification and segmentation. Several recent 3D object classification methods have…

For current object detectors, the scale of the receptive field of feature extraction operators usually increases layer by layer. Those operators are called scale-oriented operators in this paper, such as the convolution layer in CNN, and…

While object semantic understanding is essential for most service robotic tasks, 3D object classification is still an open problem. Learning from artificial 3D models alleviates the cost of annotation necessary to approach this problem, but…

We propose a novel Deformed Implicit Field (DIF) representation for modeling 3D shapes of a category and generating dense correspondences among shapes. With DIF, a 3D shape is represented by a template implicit field shared across the…

Nowadays, service robots are appearing more and more in our daily life. For this type of robot, open-ended object category learning and recognition is necessary since no matter how extensive the training data used for batch learning, the…

Multi-class 3D object detection aims to localize and classify objects of multiple categories from point clouds. Due to the nature of point clouds, i.e. unstructured, sparse and noisy, some features benefit-ting multi-class discrimination…

In this paper, we propose SpotNet: a fast, single stage, image-centric but LiDAR anchored approach for long range 3D object detection. We demonstrate that our approach to LiDAR/image sensor fusion, combined with the joint learning of 2D and…

The semantic segmentation of point clouds is an important part of the environment perception for robots. However, it is difficult to directly adopt the traditional 3D convolution kernel to extract features from raw 3D point clouds because…