相关论文: PCRP: Unsupervised Point Cloud Object Retrieval an…

The goal of object pose estimation is to visually determine the pose of a specific object in the RGB-D input. Unfortunately, when faced with new categories, both instance-based and category-based methods are unable to deal with unseen…

Inspired by the recent PointHop classification method, an unsupervised 3D point cloud registration method, called R-PointHop, is proposed in this work. R-PointHop first determines a local reference frame (LRF) for every point using its…

Object point cloud classification has drawn great research attention since the release of benchmarking datasets, such as the ModelNet and the ShapeNet. These benchmarks assume point clouds covering complete surfaces of object instances, for…

The PointHop method was recently proposed by Zhang et al. for 3D point cloud classification with unsupervised feature extraction. It has an extremely low training complexity while achieving state-of-the-art classification performance. In…

We present a novel appearance-based approach for pose estimation of a human hand using the point clouds provided by the low-cost Microsoft Kinect sensor. Both the free-hand case, in which the hand is isolated from the surrounding…

In this paper, we focus on unsupervised representation learning for skeleton-based action recognition. Existing approaches usually learn action representations by sequential prediction but they suffer from the inability to fully learn…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

Point clouds captured by scanning devices are often incomplete due to occlusion. To overcome this limitation, point cloud completion methods have been developed to predict the complete shape of an object based on its partial input. These…

Legged locomotion in constrained spaces (called crawl spaces) is challenging. In crawl spaces, current proprioceptive locomotion learning methods are difficult to achieve traverse because only ground features are inferred. In this study, a…

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…

Category-level articulated object pose estimation focuses on the pose estimation of unknown articulated objects within known categories. Despite its significance, this task remains challenging due to the varying shapes and poses of objects,…

Aligning partial views of a scene into a single whole is essential to understanding one's environment and is a key component of numerous robotics tasks such as SLAM and SfM. Recent approaches have proposed end-to-end systems that can…

Object discovery is a core task in computer vision. While fast progresses have been made in supervised object detection, its unsupervised counterpart remains largely unexplored. With the growth of data volume, the expensive cost of…

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…

Rotation estimation of known rigid objects is important for robotic applications such as dexterous manipulation. Most existing methods for rotation estimation use intermediate representations such as templates, global or local feature…

Some robust point cloud registration approaches with controllable pose refinement magnitude, such as ICP and its variants, are commonly used to improve 6D pose estimation accuracy. However, the effectiveness of these methods gradually…

Though a number of point cloud learning methods have been proposed to handle unordered points, most of them are supervised and require labels for training. By contrast, unsupervised learning of point cloud data has received much less…

3D pose estimation is a challenging problem in computer vision. Most of the existing neural-network-based approaches address color or depth images through convolution networks (CNNs). In this paper, we study the task of 3D human pose…

3D point cloud registration in remote sensing field has been greatly advanced by deep learning based methods, where the rigid transformation is either directly regressed from the two point clouds (correspondences-free approaches) or…

Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception…