相关论文: PICCOLO: Point Cloud-Centric Omnidirectional Local…

Fine-grained geometry, captured by aggregation of point features in local regions, is crucial for object recognition and scene understanding in point clouds. Nevertheless, existing preeminent point cloud backbones usually incorporate…

Semantic segmentation in autonomous driving has been undergoing an evolution from sparse point segmentation to dense voxel segmentation, where the objective is to predict the semantic occupancy of each voxel in the concerned 3D space. The…

Recent years have witnessed the growth of point cloud based applications because of its realistic and fine-grained representation of 3D objects and scenes. However, it is a challenging problem to compress sparse, unstructured, and…

Flexible industrial production systems will play a central role in the future of manufacturing due to higher product individualization and customization. A key component in such systems is the robotic grasping of known or unknown objects in…

Driven by the increasing demand for accurate and efficient representation of 3D data in various domains, point cloud sampling has emerged as a pivotal research topic in 3D computer vision. Recently, learning-to-sample methods have garnered…

Solving the challenging problem of 3D object reconstruction from a single image appropriately gives existing technologies the ability to perform with a single monocular camera rather than requiring depth sensors. In recent years, thanks to…

A well-known challenge in applying deep-learning methods to omnidirectional images is spherical distortion. In dense regression tasks such as depth estimation, where structural details are required, using a vanilla CNN layer on the…

We describe a simple pre-training approach for point clouds. It works in three steps: 1. Mask all points occluded in a camera view; 2. Learn an encoder-decoder model to reconstruct the occluded points; 3. Use the encoder weights as…

Point cloud based methods have produced promising results in areas such as 3D object detection in autonomous driving. However, most of the recent point cloud work focuses on single depth sensor data, whereas less work has been done on…

In moving camera videos, motion segmentation is commonly performed using the image plane motion of pixels, or optical flow. However, objects that are at different depths from the camera can exhibit different optical flows even if they share…

3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…

Object point cloud classification has drawn great research attention since the release of benchmarking datasets, such as the ModelNet and the ShapeNet. These benchmarks assume point clouds covering complete surfaces of object instances, for…

High quality upsampling of sparse 3D point clouds is critically useful for a wide range of geometric operations such as reconstruction, rendering, meshing, and analysis. In this paper, we propose a data-driven algorithm that enables an…

Rotation estimation of known rigid objects is important for robotic applications such as dexterous manipulation. Most existing methods for rotation estimation use intermediate representations such as templates, global or local feature…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

Point cloud segmentation (PCS) is to classify each point in point clouds. The task enables robots to parse their 3D surroundings and run autonomously. According to different point cloud representations, existing PCS models can be roughly…

This paper presents a view-guided solution for the task of point cloud completion. Unlike most existing methods directly inferring the missing points using shape priors, we address this task by introducing ViPC (view-guided point cloud…

In the realm of robotic grasping, achieving accurate and reliable interactions with the environment is a pivotal challenge. Traditional methods of grasp planning methods utilizing partial point clouds derived from depth image often suffer…

Efficient point cloud compression is fundamental to enable the deployment of virtual and mixed reality applications, since the number of points to code can range in the order of millions. In this paper, we present a novel data-driven…

Portable 360$^\circ$ cameras are becoming a cheap and efficient tool to establish large visual databases. By capturing omnidirectional views of a scene, these cameras could expedite building environment models that are essential for visual…