相关论文: LRF-Net: Learning Local Reference Frames for 3D Lo…

Most machine learning (ML) models in Materials Science are developed by global geometric features, often falling short in describing localized characteristics, like molecular adsorption on materials. In this study, we introduce a local…

We propose a novel visual re-localization method based on direct matching between the implicit 3D descriptors and the 2D image with transformer. A conditional neural radiance field(NeRF) is chosen as the 3D scene representation in our…

The performance of 3D object detection models over point clouds highly depends on their capability of modeling local geometric patterns. Conventional point-based models exploit local patterns through a symmetric function (e.g. max pooling)…

In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic daytime and weather…

Learning a 3D representation of a scene has been a challenging problem for decades in computer vision. Recent advances in implicit neural representation from images using neural radiance fields(NeRF) have shown promising results. Some of…

We introduce a new task, novel view synthesis for LiDAR sensors. While traditional model-based LiDAR simulators with style-transfer neural networks can be applied to render novel views, they fall short of producing accurate and realistic…

We propose a novel framework for training neural networks which is capable of learning 3D information of non-rigid objects when only 2D annotations are available as ground truths. Recently, there have been some approaches that incorporate…

A robot operating in a household environment will see a wide range of unique and unfamiliar objects. While a system could train on many of these, it is infeasible to predict all the objects a robot will see. In this paper, we present a…

Sparse local feature matching is pivotal for many computer vision and robotics tasks. To improve their invariance to challenging appearance conditions and viewing angles, and hence their usefulness, existing learning-based methods have…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

Recent innovations in training deep convolutional neural network (ConvNet) models have motivated the design of new methods to automatically learn local image descriptors. The latest deep ConvNets proposed for this task consist of a siamese…

Layer-wise relevance propagation is a framework which allows to decompose the prediction of a deep neural network computed over a sample, e.g. an image, down to relevance scores for the single input dimensions of the sample such as…

It is challenging to reconstruct 3D point clouds in unseen classes from single 2D images. Instead of object-centered coordinate system, current methods generalized global priors learned in seen classes to reconstruct 3D shapes from unseen…

Purpose: In laparoscopic liver surgery (LLS), pre-operative information can be overlaid onto the intra-operative scene by registering a 3D pre-operative model to the intra-operative partial surface reconstructed from the laparoscopic video.…

Pedestrian attribute recognition has attracted many attentions due to its wide applications in scene understanding and person analysis from surveillance videos. Existing methods try to use additional pose, part or viewpoint information to…

We propose a new shape analysis approach based on the non-local analysis of local shape variations. Our method relies on a novel description of shape variations, called Local Probing Field (LPF), which describes how a local probing operator…

Humans describe the physical world using natural language to refer to specific 3D locations based on a vast range of properties: visual appearance, semantics, abstract associations, or actionable affordances. In this work we propose…

The ability of neural radiance fields or NeRFs to conduct accurate 3D modelling has motivated application of the technique to scene representation. Previous approaches have mainly followed a centralised learning paradigm, which assumes that…

Learning intra-region contexts and inter-region relations are two effective strategies to strengthen feature representations for point cloud analysis. However, unifying the two strategies for point cloud representation is not fully…

Autonomous assembly of objects is an essential task in robotics and 3D computer vision. It has been studied extensively in robotics as a problem of motion planning, actuator control and obstacle avoidance. However, the task of developing a…