相关论文: 6D Object Pose Regression via Supervised Learning …

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

State-of-the-art approaches for 6D object pose estimation require large amounts of labeled data to train the deep networks. However, the acquisition of 6D object pose annotations is tedious and labor-intensive in large quantity. To…

3D point clouds deep learning is a promising field of research that allows a neural network to learn features of point clouds directly, making it a robust tool for solving 3D scene understanding tasks. While recent works show that point…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

Over the last two decades, deep learning has transformed the field of computer vision. Deep convolutional networks were successfully applied to learn different vision tasks such as image classification, image segmentation, object detection…

Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…

Given a single scene image, this paper proposes a method of Category-level 6D Object Pose and Size Estimation (COPSE) from the point cloud of the target object, without external real pose-annotated training data. Specifically, beyond the…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Numerous 6D pose estimation methods have been proposed that employ end-to-end regression to directly estimate the target pose parameters. Since the visible features of objects are implicitly influenced by their poses, the network allows…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

In recent years, depth sensors have become more and more affordable and have found their way into a growing amount of robotic systems. However, mono- or multi-modal sensor registration, often a necessary step for further processing, faces…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

Self-supervised learning on point clouds has gained a lot of attention recently, since it addresses the label-efficiency and domain-gap problems on point cloud tasks. In this paper, we propose a novel self-supervised framework to learn…

Recently, the advancement of 3D point clouds in deep learning has attracted intensive research in different application domains such as computer vision and robotic tasks. However, creating feature representation of robust, discriminative…

We propose a novel approach to self-supervised learning of point cloud representations by differentiable neural rendering. Motivated by the fact that informative point cloud features should be able to encode rich geometry and appearance…

In this study, we present an analysis of model-based ensemble learning for 3D point-cloud object classification and detection. An ensemble of multiple model instances is known to outperform a single model instance, but there is little study…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

The goal of object pose estimation is to visually determine the pose of a specific object in the RGB-D input. Unfortunately, when faced with new categories, both instance-based and category-based methods are unable to deal with unseen…