相关论文: RPR-Net: A Point Cloud-based Rotation-aware Large …

Text-to-point-cloud cross-modal localization is an emerging vision-language task critical for future robot-human collaboration. It seeks to localize a position from a city-scale point cloud scene based on a few natural language…

We present a learning-based method for 6 DoF pose estimation of rigid objects in point cloud data. Many recent learning-based approaches use primarily RGB information for detecting objects, in some cases with an added refinement step using…

Place recognition is one of the most fundamental topics in computer vision and robotics communities, where the task is to accurately and efficiently recognize the location of a given query image. Despite years of wisdom accumulated in this…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

For autonomous driving, radar sensors provide superior reliability regardless of weather conditions as well as a significantly high detection range. State-of-the-art algorithms for environment perception based on radar scans build up on…

Point cloud registration (PCR) is an essential task in 3D vision. Existing methods achieve increasingly higher accuracy. However, a large proportion of non-overlapping points in point cloud registration consume a lot of computational…

Despite the recent active research on processing point clouds with deep networks, few attention has been on the sensitivity of the networks to rotations. In this paper, we propose a deep learning architecture that achieves discrete…

Perceiving the environment via cameras is crucial for Reinforcement Learning (RL) in robotics. While images are a convenient form of representation, they often complicate extracting important geometric details, especially with varying…

Features that are equivariant to a larger group of symmetries have been shown to be more discriminative and powerful in recent studies. However, higher-order equivariant features often come with an exponentially-growing computational cost.…

We propose a general method for deep learning based point cloud analysis, which is invariant to rotation on the inputs. Classical methods are vulnerable to rotation, as they usually take aligned point clouds as input. Principle Component…

Reliable robotic grasping in unstructured environments is a crucial but challenging task. The main problem is to generate the optimal grasp of novel objects from partial noisy observations. This paper presents an end-to-end grasp detection…

LiDAR-based place recognition (LPR) is one of the most crucial components of autonomous vehicles to identify previously visited places in GPS-denied environments. Most existing LPR methods use mundane representations of the input point…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

In this paper, we present a comprehensive point cloud semantic segmentation network that aggregates both local and global multi-scale information. First, we propose an Angle Correlation Point Convolution (ACPConv) module to effectively…

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…

Technology to recognize the type of component represented by a point cloud is required in the reconstruction process of an as-built model of a process plant based on laser scanning. The reconstruction process of a process plant through…

We propose a novel approach to self-supervised learning of point cloud representations by differentiable neural rendering. Motivated by the fact that informative point cloud features should be able to encode rich geometry and appearance…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

Rotation-invariant face detection, i.e. detecting faces with arbitrary rotation-in-plane (RIP) angles, is widely required in unconstrained applications but still remains as a challenging task, due to the large variations of face…

As a popular geometric representation, point clouds have attracted much attention in 3D vision, leading to many applications in autonomous driving and robotics. One important yet unsolved issue for learning on point cloud is that point…