相关论文: MultiBodySync: Multi-Body Segmentation and Motion …

We present SyNoRiM, a novel way to jointly register multiple non-rigid shapes by synchronizing the maps relating learned functions defined on the point clouds. Even though the ability to process non-rigid shapes is critical in various…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Most existing robotic surgery systems adopt a human-in-the-loop paradigm, often with the surgeon directly teleoperating the robotic system. Adding intelligence to these robots would enable higher-level control, such as supervised autonomy…

The test-time optimization of scene flow - using a coordinate network as a neural prior - has gained popularity due to its simplicity, lack of dataset bias, and state-of-the-art performance. We observe, however, that although coordinate…

We propose a novel generative approach for 3D human pose estimation. 3D human pose estimation poses several key challenges due to the complex geometry of the human body, self-occluding joints, and the requirement for large-scale real-world…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…

With the advent of advanced multi-sensor fusion models, there has been a notable enhancement in the performance of perception tasks within in terms of autonomous driving. Despite these advancements, the challenges persist, particularly in…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

In this work, we consider the problem of estimating the 3D position of multiple humans in a scene as well as their body shape and articulation from a single RGB video recorded with a static camera. In contrast to expensive marker-based or…

Establishing point-to-point correspondences across multiple 3D shapes is a fundamental problem in computer vision and graphics. In this paper, we introduce DcMatch, a novel unsupervised learning framework for non-rigid multi-shape matching.…

Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…

3D Cloth modeling and simulation is essential for avatars creation in several fields, such as fashion, entertainment, and animation. Achieving high-quality results is challenging due to the large variability of clothed body especially in…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

Recent advances in interactive 3D segmentation from 2D images have demonstrated impressive performance. However, current models typically require extensive scene-specific training to accurately reconstruct and segment objects, which limits…

Magnetic resonance imaging (MRI) is the non-invasive modality of choice for body tissue composition analysis due to its excellent soft tissue contrast and lack of ionizing radiation. However, quantification of body composition requires an…

Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…

Multiple cameras can provide comprehensive multi-view video coverage of a person. Fusing this multi-view data is crucial for tasks like behavioral analysis, although it traditionally requires camera calibration, a process that is often…

3D point clouds are rich in geometric structure information, while 2D images contain important and continuous texture information. Combining 2D information to achieve better 3D semantic segmentation has become mainstream in 3D scene…

The recent development in multimodal learning has greatly advanced the research in 3D scene understanding in various real-world tasks such as embodied AI. However, most existing studies are facing two common challenges: 1) they are short of…