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

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

We present a deep learning model, dubbed Glissando-Net, to simultaneously estimate the pose and reconstruct the 3D shape of objects at the category level from a single RGB image. Previous works predominantly focused on either estimating…

Keypoint detection and description is fundamental yet important in many vision applications. Most existing methods use detect-then-describe or detect-and-describe strategy to learn local features without considering their context…

In this paper we study the problem of object detection for RGB-D images using semantically rich image and depth features. We propose a new geocentric embedding for depth images that encodes height above ground and angle with gravity for…

Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed,…

Point cloud semantic segmentation can significantly enhance the perception of an intelligent agent. Nevertheless, the discriminative capability of the segmentation network is influenced by the quantity of samples available for different…

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…

Point cloud registration, a fundamental task in 3D vision, has achieved remarkable success with learning-based methods in outdoor environments. Unsupervised outdoor point cloud registration methods have recently emerged to circumvent the…

Recent advancements in photo-realistic novel view synthesis have been significantly driven by Gaussian Splatting (3DGS). Nevertheless, the explicit nature of 3DGS data entails considerable storage requirements, highlighting a pressing need…

This paper presents a real-time online vision framework to jointly recover an indoor scene's 3D structure and semantic label. Given noisy depth maps, a camera trajectory, and 2D semantic labels at train time, the proposed deep neural…

We present a Visual Place Recognition system that follows the two-stage format common to image retrieval pipelines. The system encodes images of places by employing the activations of different layers of a pre-trained, off-the-shelf, VGG16…

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…

Accurate classification of objects in 3D point clouds is a significant problem in several applications, such as autonomous navigation and augmented/virtual reality scenarios, which has become a research hot spot. In this paper, we presented…

This work presents FG-Net, a general deep learning framework for large-scale point clouds understanding without voxelizations, which achieves accurate and real-time performance with a single NVIDIA GTX 1080 GPU. First, a novel noise and…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

The majority of point cloud registration methods currently rely on extracting features from points. However, these methods are limited by their dependence on information obtained from a single modality of points, which can result in…

In recent years, implicit functions have drawn attention in the field of 3D reconstruction and have successfully been applied with Deep Learning. However, for incremental reconstruction, implicit function-based registrations have been…

Scene understanding has been of high interest in computer vision. It encompasses not only identifying objects in a scene, but also their relationships within the given context. With this goal, a recent line of works tackles 3D semantic…

Domain generalization in 3D segmentation is a critical challenge in deploying models to unseen environments. Current methods mitigate the domain shift by augmenting the data distribution of point clouds. However, the model learns global…

Real-time rendering with global illumination is crucial to afford the user realistic experience in virtual environments. We present a learning-based estimator to predict diffuse indirect illumination in screen space, which then is combined…