相关论文: CGiS-Net: Aggregating Colour, Geometry and Implici…

We present AEGIS-Net, a novel indoor place recognition model that takes in RGB point clouds and generates global place descriptors by aggregating lower-level color, geometry features and higher-level implicit semantic features. However,…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

Current research on visual place recognition mostly focuses on aggregating local visual features of an image into a single vector representation. Therefore, high-level information such as the geometric arrangement of the features is…

RGB-D cameras, which give an RGB image to- gether with depths, are becoming increasingly popular for robotic perception. In this paper, we address the task of detecting commonly found objects in the 3D point cloud of indoor scenes obtained…

In this paper, we introduce PCR-CG: a novel 3D point cloud registration module explicitly embedding the color signals into the geometry representation. Different from previous methods that only use geometry representation, our module is…

We present a novel end-to-end algorithm (PoCo) for the indoor RGB-D place recognition task, aimed at identifying the most likely match for a given query frame within a reference database. The task presents inherent challenges attributed to…

Colored point cloud, which includes geometry and attribute components, is a mainstream representation enabling realistic and immersive 3D applications. To generate large-scale and denser colored point clouds, we propose a deep…

We focus on the problem of semantic segmentation based on RGB-D data, with emphasis on analyzing cluttered indoor scenes containing many instances from many visual categories. Our approach is based on a parametric figure-ground intensity…

We present a deep reinforcement learning method of progressive view inpainting for colored semantic point cloud scene completion under volume guidance, achieving high-quality scene reconstruction from only a single RGB-D image with severe…

Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or…

We introduce 3D-SIS, a novel neural network architecture for 3D semantic instance segmentation in commodity RGB-D scans. The core idea of our method is to jointly learn from both geometric and color signal, thus enabling accurate instance…

Robust and discriminative feature learning is critical for high-quality point cloud registration. However, existing deep learning-based methods typically rely on Euclidean neighborhood-based strategies for feature extraction, which struggle…

An efficient solution to semantic segmentation of large-scale indoor scene point clouds is proposed in this work. It is named GSIP (Green Segmentation of Indoor Point clouds) and its performance is evaluated on a representative large-scale…

In this work we address the problem of indoor scene understanding from RGB-D images. Specifically, we propose to find instances of common furniture classes, their spatial extent, and their pose with respect to generalized class models. To…

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…

This work addresses multi-class segmentation of indoor scenes with RGB-D inputs. While this area of research has gained much attention recently, most works still rely on hand-crafted features. In contrast, we apply a multiscale…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

We address the challenge of point cloud registration using color information, where traditional methods relying solely on geometric features often struggle in low-overlap and incomplete scenarios. To overcome these limitations, we propose…

3D object recognition is a challenging task for intelligent and robot systems in industrial and home indoor environments. It is critical for such systems to recognize and segment the 3D object instances that they encounter on a frequent…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…