相关论文: Classifying In-Place Gestures with End-to-End Poin…

Scene flow is a powerful tool for capturing the motion field of 3D point clouds. However, it is difficult to directly apply flow-based models to dynamic point cloud classification since the unstructured points make it hard or even…

We present High-Density Visual Particle Dynamics (HD-VPD), a learned world model that can emulate the physical dynamics of real scenes by processing massive latent point clouds containing 100K+ particles. To enable efficiency at this scale,…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…

Real-time recognition of dynamic hand gestures from video streams is a challenging task since (i) there is no indication when a gesture starts and ends in the video, (ii) performed gestures should only be recognized once, and (iii) the…

In this work, we tackle the problem of category-level online pose tracking of objects from point cloud sequences. For the first time, we propose a unified framework that can handle 9DoF pose tracking for novel rigid object instances as well…

Visual localization is the task of estimating a 6-DoF camera pose of a query image within a provided 3D reference map. Thanks to recent advances in various 3D sensors, 3D point clouds are becoming a more accurate and affordable option for…

In this research, we present an end-to-end data-driven pipeline for determining the long-term stability status of objects within a given environment, specifically distinguishing between static and dynamic objects. Understanding object…

We propose a novel multi-modal and multi-task architecture for simultaneous low level gesture and surgical task classification in Robot Assisted Surgery (RAS) videos.Our end-to-end architecture is based on the principles of a long…

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…

We propose a method for human activity recognition from RGB data that does not rely on any pose information during test time and does not explicitly calculate pose information internally. Instead, a visual attention module learns to predict…

In this paper, we propose an end-to-end learning network to predict future frames in a point cloud sequence. As main novelty, an initial layer learns topological information of point clouds as geometric features, to form representative…

Many applications in robotics and human-computer interaction can benefit from understanding 3D motion of points in a dynamic environment, widely noted as scene flow. While most previous methods focus on stereo and RGB-D images as input, few…

In this paper, we propose an end-to-end grasp evaluation model to address the challenging problem of localizing robot grasp configurations directly from the point cloud. Compared to recent grasp evaluation metrics that are based on…

Static gesture recognition is an effective non-verbal communication channel between a user and their devices; however many modern methods are sensitive to the relative pose of the user's hands with respect to the capture device, as parts of…

Recent investigations on rotation invariance for 3D point clouds have been devoted to devising rotation-invariant feature descriptors or learning canonical spaces where objects are semantically aligned. Examinations of learning frameworks…

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…

In this paper, we deal with the problem to predict the future 3D motions of 3D object scans from previous two consecutive frames. Previous methods mostly focus on sparse motion prediction in the form of skeletons. While in this paper we…

Recent advances in humanoid locomotion have enabled dynamic behaviors such as dancing, martial arts, and parkour, yet these capabilities are predominantly demonstrated in open, flat, and obstacle-free settings. In contrast, real-world…

Video-based human pose estimation models aim to address scenarios that cannot be effectively solved by static image models such as motion blur, out-of-focus and occlusion. Most existing approaches consist of two stages: detecting human…

Panoptic tracking enables pixel-level scene interpretation of videos by integrating instance tracking in panoptic segmentation. This provides robots with a spatio-temporal understanding of the environment, an essential attribute for their…