相关论文: PrimiTect: Fast Continuous Hough Voting for Primit…

A novel 3D shape classification scheme, based on collaborative representation learning, is investigated in this work. A data-driven feature-extraction procedure, taking the form of a simple projection operator, is in the core of our…

We present a simple and effective framework, named Point2Seq, for 3D object detection from point clouds. In contrast to previous methods that normally {predict attributes of 3D objects all at once}, we expressively model the…

In this paper, we propose a new approach for keypoint-based object detection. Traditional keypoint-based methods consist in classifying individual points and using pose estimation to discard misclassifications. Since a single point carries…

Inspired by the classical fractional cascading technique, we introduce new techniques to speed up the following type of iterated search in 3D: The input is a graph $\mathbf{G}$ with bounded degree together with a set $H_v$ of 3D hyperplanes…

Recent object detection systems rely on two critical steps: (1) a set of object proposals is predicted as efficiently as possible, and (2) this set of candidate proposals is then passed to an object classifier. Such approaches have been…

Previous top-performing approaches for point cloud instance segmentation involve a bottom-up strategy, which often includes inefficient operations or complex pipelines, such as grouping over-segmented components, introducing additional…

3D object detection from raw and sparse point clouds has been far less treated to date, compared with its 2D counterpart. In this paper, we propose a novel framework called FVNet for 3D front-view proposal generation and object detection…

Accurately detecting objects in the environment is a key challenge for autonomous vehicles. However, obtaining annotated data for detection is expensive and time-consuming. We introduce PatchContrast, a novel self-supervised point cloud…

We consider the problem of object recognition in 3D using an ensemble of attribute-based classifiers. We propose two new concepts to improve classification in practical situations, and show their implementation in an approach implemented…

In this paper, we propose PointRCNN for 3D object detection from raw point cloud. The whole framework is composed of two stages: stage-1 for the bottom-up 3D proposal generation and stage-2 for refining proposals in the canonical…

This paper proposes an enhancement of convolutional neural networks for object detection in resource-constrained robotics through a geometric input transformation called Visual Mesh. It uses object geometry to create a graph in vision…

Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…

We present a new algorithm for multi-region segmentation of 2D images with objects that may partially occlude each other. Our algorithm is based on the observation hat human performance on this task is based both on prior knowledge about…

There are various automotive applications that rely on correctly interpreting point cloud data recorded with radar sensors. We present a deep learning approach for histogram-based processing of such point clouds. Compared to existing…

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…

3D object detection with point clouds and images plays an important role in perception tasks such as autonomous driving. Current methods show great performance on detection and pose estimation of standard-shaped vehicles but lack behind on…

This paper addresses unsupervised discovery and localization of dominant objects from a noisy image collection with multiple object classes. The setting of this problem is fully unsupervised, without even image-level annotations or any…

This work describes algorithms for performing discrete object detection, specifically in the case of buildings, where usually only low quality RGB-only geospatial reflective imagery is available. We utilize new candidate search and feature…

Abstraction is a powerful idea widely used in science, to model, reason and explain the behavior of systems in a more tractable search space, by omitting irrelevant details. While notions of abstraction have matured for deterministic…

In this work we propose a novel approach to perform segmentation by leveraging the abstraction capabilities of convolutional neural networks (CNNs). Our method is based on Hough voting, a strategy that allows for fully automatic…