相关论文: GFPNet: A Deep Network for Learning Shape Completi…

Unpaired 3D object completion aims to predict a complete 3D shape from an incomplete input without knowing the correspondence between the complete and incomplete shapes. In this paper, we propose the novel KTNet to solve this task from the…

This work provides an architecture to enable robotic grasp planning via shape completion. Shape completion is accomplished through the use of a 3D convolutional neural network (CNN). The network is trained on our own new open source dataset…

3D reconstruction is a longstanding ill-posed problem, which has been explored for decades by the computer vision, computer graphics, and machine learning communities. Since 2015, image-based 3D reconstruction using convolutional neural…

The reconstruction of a discrete surface from a point cloud is a fundamental geometry processing problem that has been studied for decades, with many methods developed. We propose the use of a deep neural network as a geometric prior for…

3D geometry is a very informative cue when interacting with and navigating an environment. This writing proposes a new approach to 3D reconstruction and scene understanding, which implicitly learns 3D geometry from depth maps pairing a deep…

Generative models that produce point clouds have emerged as a powerful tool to represent 3D surfaces, and the best current ones rely on learning an ensemble of parametric representations. Unfortunately, they offer no control over the…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and…

Shape completion, the problem of estimating the complete geometry of objects from partial observations, lies at the core of many vision and robotics applications. In this work, we propose Point Completion Network (PCN), a novel…

3D reconstruction from a single image is a key problem in multiple applications ranging from robotic manipulation to augmented reality. Prior methods have tackled this problem through generative models which predict 3D reconstructions as…

We introduce methods for obtaining pretrained Geometric Neural Operators (GNPs) that can serve as basal foundation models for use in obtaining geometric features. These can be used within data processing pipelines for machine learning tasks…

3D shape models are naturally parameterized using vertices and faces, \ie, composed of polygons forming a surface. However, current 3D learning paradigms for predictive and generative tasks using convolutional neural networks focus on a…

Recent image restoration methods can be broadly categorized into two classes: (1) regression methods that recover the rough structure of the original image without synthesizing high-frequency details and (2) generative methods that…

Prototypical part neural networks (ProtoPartNNs), namely PROTOPNET and its derivatives, are an intrinsically interpretable approach to machine learning. Their prototype learning scheme enables intuitive explanations of the form, this…

The task of shape abstraction with semantic part consistency is challenging due to the complex geometries of natural objects. Recent methods learn to represent an object shape using a set of simple primitives to fit the target.…

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…

This paper introduces HPNet, a novel deep-learning approach for segmenting a 3D shape represented as a point cloud into primitive patches. The key to deep primitive segmentation is learning a feature representation that can separate points…

Deep neural networks (DNN) have achieved great success in image restoration. However, most DNN methods are designed as a black box, lacking transparency and interpretability. Although some methods are proposed to combine traditional…

Modelling the physical properties of everyday objects is a fundamental prerequisite for autonomous robots. We present a novel generative adversarial network (Defo-Net), able to predict body deformations under external forces from a single…

In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…