相关论文: UnsupervisedR&R: Unsupervised Point Cloud Registra…

We propose a unified point cloud video self-supervised learning framework for object-centric and scene-centric data. Previous methods commonly conduct representation learning at the clip or frame level and cannot well capture fine-grained…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…

With the development of numerous 3D sensing technologies, object registration on cross-source point cloud has aroused researchers' interests. When the point clouds are captured from different kinds of sensors, there are large and different…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

We present a fast feature-metric point cloud registration framework, which enforces the optimisation of registration by minimising a feature-metric projection error without correspondences. The advantage of the feature-metric projection…

Unsupervised learning from visual data is one of the most difficult challenges in computer vision, being a fundamental task for understanding how visual recognition works. From a practical point of view, learning from unsupervised visual…

Robust imitation learning for robot manipulation requires comprehensive 3D perception, yet many existing methods struggle in cluttered environments. Fixed camera view approaches are vulnerable to perspective changes, and 3D point cloud…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

Although unsupervised feature learning has demonstrated its advantages to reducing the workload of data labeling and network design in many fields, existing unsupervised 3D learning methods still cannot offer a generic network for various…

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…

Cross-source point cloud registration, which aims to align point cloud data from different sensors, is a fundamental task in 3D vision. However, compared to the same-source point cloud registration, cross-source registration faces two core…

Category-level 3D pose estimation is a fundamentally important problem in computer vision and robotics, e.g. for embodied agents or to train 3D generative models. However, so far methods that estimate the category-level object pose require…

Recently,vision-based robotic manipulation has garnered significant attention and witnessed substantial advancements. 2D image-based and 3D point cloud-based policy learning represent two predominant paradigms in the field, with recent…

Segmenting unseen objects in cluttered scenes is an important skill that robots need to acquire in order to perform tasks in new environments. In this work, we propose a new method for unseen object instance segmentation by learning RGB-D…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

Rigid registration of partial observations is a fundamental problem in various applied fields. In computer graphics, special attention has been given to the registration between two partial point clouds generated by scanning devices.…

The precision of unsupervised point cloud registration methods is typically limited by the lack of reliable inlier estimation and self-supervised signal, especially in partially overlapping scenarios. In this paper, we propose an effective…