相关论文: Multimodal Colored Point Cloud to Image Alignment

Cloud-edge collaboration enhances machine perception by combining the strengths of edge and cloud computing. Edge devices capture raw data (e.g., 3D point clouds) and extract salient features, which are sent to the cloud for deeper analysis…

Point clouds obtained from 3D sensors are usually sparse. Existing methods mainly focus on upsampling sparse point clouds in a supervised manner by using dense ground truth point clouds. In this paper, we propose a self-supervised point…

RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

We present a novel diffusion-based approach for coherent 3D scene reconstruction from a single RGB image. Our method utilizes an image-conditioned 3D scene diffusion model to simultaneously denoise the 3D poses and geometries of all objects…

The validation of LiDAR-based perception of intelligent mobile systems operating in open-world applications remains a challenge due to the variability of real environmental conditions. Virtual simulations allow the generation of arbitrary…

This paper addresses the problem of generating dense point clouds from given sparse point clouds to model the underlying geometric structures of objects/scenes. To tackle this challenging issue, we propose a novel end-to-end learning-based…

3D point clouds acquired by scanning real-world objects or scenes have found a wide range of applications including immersive telepresence, autonomous driving, surveillance, etc. They are often perturbed by noise or suffer from low density,…

The ever-increasing 3D application makes the point cloud compression unprecedentedly important and needed. In this paper, we propose a patch-based compression process using deep learning, focusing on the lossy point cloud geometry…

We present a novel method for reconstructing parametric, volumetric, multi-story building models from unstructured, unfiltered indoor point clouds by means of solving an integer linear optimization problem. Our approach overcomes…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Recent works leverage the power of deep learning for registering a pair of point sets. However, unfortunately, deep…

In this paper, we address the problem of reconstructing an object's surface from a single image using generative networks. First, we represent a 3D surface with an aggregation of dense point clouds from multiple views. Each point cloud is…

Sky/cloud images captured by ground-based cameras (a.k.a. whole sky imagers) are increasingly used nowadays because of their applications in a number of fields, including climate modeling, weather prediction, renewable energy generation,…

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…

Visual place classification from a first-person-view monocular RGB image is a fundamental problem in long-term robot navigation. A difficulty arises from the fact that RGB image classifiers are often vulnerable to spatial and appearance…

This paper introduces DensePoint, a densely sampled and annotated point cloud dataset containing over 10,000 single objects across 16 categories, by merging different kind of information from two existing datasets. Each point cloud in…

The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…

Learning-based image harmonization techniques are usually trained to undo synthetic random global transformations applied to a masked foreground in a single ground truth photo. This simulated data does not model many of the important…

Point clouds have attracted increasing attention. Significant progress has been made in methods for point cloud analysis, which often requires costly human annotation as supervision. To address this issue, we propose a novel…

Reconstructing 3D models from 2D images is one of the fundamental problems in computer vision. In this work, we propose a deep learning technique for 3D object reconstruction from a single image. Contrary to recent works that either use 3D…