相关论文: Learning to Orient Surfaces by Self-supervised Sph…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

Reconstructing the underlying 3D surface of an object from a single image is a challenging problem that has received extensive attention from the computer vision community. Many learning-based approaches tackle this problem by learning a 3D…

Orienting objects is a critical component in the automation of many packing and assembly tasks. We present an algorithm to orient novel objects given a depth image of the object in its current and desired orientation. We formulate a…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

As part of human core knowledge, the representation of objects is the building block of mental representation that supports high-level concepts and symbolic reasoning. While humans develop the ability of perceiving objects situated in 3D…

Emerging from low-level vision theory, steerable filters found their counterpart in prior work on steerable convolutional neural networks equivariant to rigid transformations. In our work, we propose a steerable feed-forward learning-based…

Existing techniques to encode spatial invariance within deep convolutional neural networks only model 2D transformation fields. This does not account for the fact that objects in a 2D space are a projection of 3D ones, and thus they have…

State-of-the-art deep learning systems often require large amounts of data and computation. For this reason, leveraging known or unknown structure of the data is paramount. Convolutional neural networks (CNNs) are successful examples of…

Convolutional Neural Networks (CNNs) traditionally encode translation equivariance via the convolution operation. Generalization to other transformations has recently received attraction to encode the knowledge of the data geometry in group…

In this paper, we focus on recognizing 3D shapes from arbitrary views, i.e., arbitrary numbers and positions of viewpoints. It is a challenging and realistic setting for view-based 3D shape recognition. We propose a canonical view…

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.…

Implicit function based surface reconstruction has been studied for a long time to recover 3D shapes from point clouds sampled from surfaces. Recently, Signed Distance Functions (SDFs) and Occupany Functions are adopted in learning-based…

We present an approach to learning features that represent the local geometry around a point in an unstructured point cloud. Such features play a central role in geometric registration, which supports diverse applications in robotics and 3D…

We propose a novel framework for fine-grained object recognition that learns to recover object variation in 3D space from a single image, trained on an image collection without using any ground-truth 3D annotation. We accomplish this by…

In this work, we introduce the novel problem of identifying dense canonical 3D coordinate frames from a single RGB image. We observe that each pixel in an image corresponds to a surface in the underlying 3D geometry, where a canonical frame…

Classification and segmentation of 3D point clouds are important tasks in computer vision. Because of the irregular nature of point clouds, most of the existing methods convert point clouds into regular 3D voxel grids before they are used…

Though a number of point cloud learning methods have been proposed to handle unordered points, most of them are supervised and require labels for training. By contrast, unsupervised learning of point cloud data has received much less…

Processing information on 3D objects requires methods stable to rigid-body transformations, in particular rotations, of the input data. In image processing tasks, convolutional neural networks achieve this property using…

We address the problem of 3D rotation equivariance in convolutional neural networks. 3D rotations have been a challenging nuisance in 3D classification tasks requiring higher capacity and extended data augmentation in order to tackle it. We…

Features that are equivariant to a larger group of symmetries have been shown to be more discriminative and powerful in recent studies. However, higher-order equivariant features often come with an exponentially-growing computational cost.…