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

This paper addresses the task of estimating the 6 degrees of freedom pose of a known 3D object from depth information represented by a point cloud. Deep features learned by convolutional neural networks from color information have been the…

A novel deep neural network training paradigm that exploits the conjoint information in multiple heterogeneous sources is proposed. Specifically, in a RGB-D based action recognition task, it cooperatively trains a single convolutional…

Deep Convolutional Neural Networks (CNNs) are capable of learning unprecedentedly effective features from images. Some researchers have struggled to enhance the parameters' efficiency using grouped convolution. However, the relation between…

Recovering high-quality surfaces from irregular point cloud is ill-posed unless strong geometric priors are available. We introduce an implicit self-prior approach that distills a shape-specific prior directly from the input point cloud…

Point clouds, a prominent method of 3D representation, are extensively utilized across industries such as autonomous driving, surveying, electricity, architecture, and gaming, and have been rigorously investigated for their accuracy and…

In this work, we present a novel method to learn a local cross-domain descriptor for 2D image and 3D point cloud matching. Our proposed method is a dual auto-encoder neural network that maps 2D and 3D input into a shared latent space…

This paper presents an approach for semantic place categorization using data obtained from RGB cameras. Previous studies on visual place recognition and classification have shown that, by considering features derived from pre-trained…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

Humans naturally perceive a 3D scene in front of them through accumulation of information obtained from multiple interconnected projections of the scene and by interpreting their correspondence. This phenomenon has inspired artificial…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…

Shape implicit neural representations (INRs) have recently shown to be effective in shape analysis and reconstruction tasks. Existing INRs require point coordinates to learn the implicit level sets of the shape. When a normal vector is…

Exploiting fine-grained semantic features on point cloud is still challenging due to its irregular and sparse structure in a non-Euclidean space. Among existing studies, PointNet provides an efficient and promising approach to learn shape…

Neural implicit functions have emerged as a powerful representation for surfaces in 3D. Such a function can encode a high quality surface with intricate details into the parameters of a deep neural network. However, optimizing for the…

Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In…

This paper tackles the problem of data fusion in the semantic scene completion (SSC) task, which can simultaneously deal with semantic labeling and scene completion. RGB images contain texture details of the object(s) which are vital for…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

Object segmentation for robotic grasping under dynamic conditions often faces challenges such as occlusion, low light conditions, motion blur and object size variance. To address these challenges, we propose a Deep Learning network that…

We propose a novel framework to learn 3D point cloud semantics from 2D multi-view image observations containing pose error. On the one hand, directly learning from the massive, unstructured and unordered 3D point cloud is computationally…

In 2D image processing, some attempts decompose images into high and low frequency components for describing edge and smooth parts respectively. Similarly, the contour and flat area of 3D objects, such as the boundary and seat area of a…

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…