相关论文: Sequential Point Cloud Prediction in Interactive S…

With the rapid progress of deep convolutional neural networks, in almost all robotic applications, the availability of 3D point clouds improves the accuracy of 3D semantic segmentation methods. Rendering of these irregular, unstructured,…

Point clouds are essential for object modeling and play a critical role in assisting driving tasks for autonomous vehicles (AVs). However, the significant volume of data generated by AVs creates challenges for storage, bandwidth, and…

We address the problem of learning accurate 3D shape and camera pose from a collection of unlabeled category-specific images. We train a convolutional network to predict both the shape and the pose from a single image by minimizing the…

This work extends our prior work on the distributed nonlinear model predictive control (NMPC) for navigating a robot fleet following a certain flocking behavior in unknown obstructed environments with a more realistic local obstacle…

Trajectory prediction for traffic agents is critical for safe autonomous driving. However, achieving effective zero-shot generalization in previously unseen domains remains a significant challenge. Motivated by the consistent nature of…

Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…

Point clouds are extensively employed in a variety of real-world applications such as robotics, autonomous driving and augmented reality. Despite the recent success of point cloud neural networks, especially for safety-critical tasks, it is…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

Point cloud representation has recently become a research hotspot in the field of computer vision and has been utilized for autonomous vehicles. However, adapting deep learning networks for point cloud data recognition is challenging due to…

Environmental information can provide reliable prior information about human motion intent, which can aid the subject with wearable robotics to walk in complex environments. Previous researchers have utilized 1D signal and 2D images to…

Shape completion, the problem of estimating the complete geometry of objects from partial observations, lies at the core of many vision and robotics applications. In this work, we propose Point Completion Network (PCN), a novel…

Interpretability of point cloud (PC) models becomes imperative given their deployment in safety-critical scenarios such as autonomous vehicles. We focus on attributing PC model outputs to interpretable critical concepts, defined as…

The core of self-supervised point cloud learning lies in setting up appropriate pretext tasks, to construct a pre-training framework that enables the encoder to perceive 3D objects effectively. In this paper, we integrate two prevalent…

Scene flow estimation aims to generate the 3D motion field of points between two consecutive frames of point clouds, which has wide applications in various fields. Existing point-based methods ignore the irregularity of point clouds and…

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…

The ability of predicting the future is important for intelligent systems, e.g. autonomous vehicles and robots to plan early and make decisions accordingly. Future scene parsing and optical flow estimation are two key tasks that help agents…

Spatial reasoning, the ability to understand spatial relations, causality, and dynamic evolution, is central to human intelligence and essential for real-world applications such as autonomous driving and robotics. Existing studies, however,…

Semantic Segmentation (SS) of LiDAR point clouds is essential for many applications, such as urban planning and autonomous driving. While much progress has been made in interpreting SS predictions for images, interpreting point cloud SS…

We study the problem of detecting change points (CPs) that are characterized by a subset of dimensions in a multi-dimensional sequence. A method for detecting those CPs can be formulated as a two-stage method: one for selecting relevant…

We present an approach to semantic scene analysis using deep convolutional networks. Our approach is based on tangent convolutions - a new construction for convolutional networks on 3D data. In contrast to volumetric approaches, our method…