相关论文: Inverting the Pose Forecasting Pipeline with SPF2:…

Understanding 3D scenes is a critical prerequisite for autonomous agents. Recently, LiDAR and other sensors have made large amounts of data available in the form of temporal sequences of point cloud frames. In this work, we propose a novel…

Category-level object pose estimation aims to find 6D object poses of previously unseen object instances from known categories without access to object CAD models. To reduce the huge amount of pose annotations needed for category-level…

We propose a complete pipeline that allows object detection and simultaneously estimate the pose of these multiple object instances using just a single image. A novel "keypoint regression" scheme with a cross-ratio term is introduced that…

In this article, we investigate self-supervised 3D scene flow estimation and class-agnostic motion prediction on point clouds. A realistic scene can be well modeled as a collection of rigidly moving parts, therefore its scene flow can be…

Category-level object pose estimation involves estimating the 6D pose and the 3D metric size of objects from predetermined categories. While recent approaches take categorical shape prior information as reference to improve pose estimation…

Object point cloud classification has drawn great research attention since the release of benchmarking datasets, such as the ModelNet and the ShapeNet. These benchmarks assume point clouds covering complete surfaces of object instances, for…

The conventional pose estimation of a 3D object usually requires the knowledge of the 3D model of the object. Even with the recent development in convolutional neural networks (CNNs), a 3D model is often necessary in the final estimation.…

Purpose: Accurate detection and 6D pose estimation of surgical instruments are crucial for many computer-assisted interventions. However, supervised methods lack flexibility for new or unseen tools and require extensive annotated data. This…

In robotic applications, we often face the challenge of discovering new objects while having very little or no labelled training data. In this paper we explore the use of self-supervision provided by a robot traversing an environment to…

Unmanned Surface Vehicles (USVs) are increasingly applied to water operations such as environmental monitoring and river-map modeling. It faces a significant challenge in achieving precise autonomous docking at ports or stations, still…

Autonomous driving can benefit from motion behavior comprehension when interacting with diverse traffic participants in highly dynamic environments. Recently, there has been a growing interest in estimating class-agnostic motion directly…

While category-level 9DoF object pose estimation has emerged recently, previous correspondence-based or direct regression methods are both limited in accuracy due to the huge intra-category variances in object shape and color, etc.…

Autonomous vision-based spaceborne navigation is an enabling technology for future on-orbit servicing and space logistics missions. While computer vision in general has benefited from Machine Learning (ML), training and validating…

Learning to estimate object pose often requires ground-truth (GT) labels, such as CAD model and absolute-scale object pose, which is expensive and laborious to obtain in the real world. To tackle this problem, we propose an unsupervised…

Fully-supervised category-level pose estimation aims to determine the 6-DoF poses of unseen instances from known categories, requiring expensive mannual labeling costs. Recently, various self-supervised category-level pose estimation…

Object pose estimation is a key perceptual capability in robotics. We propose a fully-convolutional extension of the PoseCNN method, which densely predicts object translations and orientations. This has several advantages such as improving…

We present a lightweight post-processing method to refine the semantic segmentation results of point cloud sequences. Most existing methods usually segment frame by frame and encounter the inherent ambiguity of the problem: based on a…

Weakly-supervised instance segmentation aims to detect and segment object instances precisely, given imagelevel labels only. Unlike previous methods which are composed of multiple offline stages, we propose Sequential Label Propagation and…

We introduce SPFSplatV2, an efficient feed-forward framework for 3D Gaussian splatting from sparse multi-view images, requiring no ground-truth poses during training and inference. It employs a shared feature extraction backbone, enabling…

Shape and pose estimation is a critical perception problem for a self-driving car to fully understand its surrounding environment. One fundamental challenge in solving this problem is the incomplete sensor signal (e.g., LiDAR scans),…