相关论文: Be your own Benchmark: No-Reference Trajectory Met…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

The goal of object pose estimation is to visually determine the pose of a specific object in the RGB-D input. Unfortunately, when faced with new categories, both instance-based and category-based methods are unable to deal with unseen…

3D single object tracking has been a crucial problem for decades with numerous applications such as autonomous driving. Despite its wide-ranging use, this task remains challenging due to the significant appearance variation caused by…

In this paper, we present and study a new instance-level retrieval task: PointCloud-Text Matching (PTM), which aims to identify the exact cross-modal instance that matches a given point-cloud query or text query. PTM has potential…

There is a current increase in the development of "4D" Doppler-capable radar and lidar range sensors that produce 3D point clouds where all points also have information about the radial velocity relative to the sensor. 4D radars in…

Multi-point tracking is a challenging task that involves detecting points in the scene and tracking them across a sequence of frames. Computing detection-based measures like the F-measure on a frame-by-frame basis is not sufficient to…

There exists no comprehensive metric for describing the complexity of Multi-Object Tracking (MOT) sequences. This lack of metrics decreases explainability, complicates comparison of datasets, and reduces the conversation on tracker…

3D Multi-Object Tracking (MOT) obtains significant performance improvements with the rapid advancements in 3D object detection, particularly in cost-effective multi-camera setups. However, the prevalent end-to-end training approach for…

Relative pose estimation is crucial for various computer vision applications, including Robotic and Autonomous Driving. Current methods primarily depend on selecting and matching feature points prone to incorrect matches, leading to poor…

Point cloud registration is a fundamental problem in many domains. Practically, the overlap between point clouds to be registered may be relatively small. Most unsupervised methods lack effective initial evaluation of overlap, leading to…

We propose a benchmark for 6D pose estimation of a rigid object from a single RGB-D input image. The training data consists of a texture-mapped 3D object model or images of the object in known 6D poses. The benchmark comprises of: i) eight…

Full-reference (FR) point cloud quality assessment (PCQA) has achieved impressive progress in recent years. However, in many cases, obtaining the reference point clouds is difficult, so no-reference (NR) metrics have become a research…

Running numerous experiments in simulation is a necessary step before deploying a control system on a real robot. In this paper we introduce a novel benchmark that is aimed at quantitatively evaluating the quality of vision-based…

The emergence of data-driven approaches for control and planning in robotics have highlighted the need for developing experimental robotic platforms for data collection. However, their implementation is often complex and expensive, in…

The use of infrastructure sensor technology for traffic detection has already been proven several times. However, extrinsic sensor calibration is still a challenge for the operator. While previous approaches are unable to calibrate the…

In robotic inspection of aviation parts, achieving accurate pairwise point cloud registration between scanned and model data is essential. However, noise and outliers generated in robotic scanned data can compromise registration accuracy.…

This paper presents iMatcher, a fully differentiable framework for feature matching in point cloud registration. The proposed method leverages learned features to predict a geometrically consistent confidence matrix, incorporating both…

Objective quality assessment of 3D point clouds is essential for the development of immersive multimedia systems in real-world applications. Despite the success of perceptual quality evaluation for 2D images and videos, blind/no-reference…

Full-reference point cloud objective metrics are currently providing very accurate representations of perceptual quality. These metrics are usually composed of a set of features that are somehow combined, resulting in a final quality value.…

3D Multi-Object Tracking (MOT) is an important part of the unmanned vehicle perception module. Most methods optimize object detection and data association independently. These methods make the network structure complicated and limit the…