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

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

Annotating large-scale point clouds is highly time-consuming and often infeasible for many complex real-world tasks. Point cloud pre-training has therefore become a promising strategy for learning discriminative representations without…

Global registration of point clouds aims to find an optimal alignment of a sequence of 2D or 3D point sets. In this paper, we present a novel method that takes advantage of current deep learning techniques for unsupervised learning of…

This paper presents a NeRF-based framework for point cloud (PCD) reconstruction, specifically designed for indoor high-throughput plant phenotyping facilities. Traditional NeRF-based reconstruction methods require cameras to move around…

An explainable machine learning method for point cloud classification, called the PointHop method, is proposed in this work. The PointHop method consists of two stages: 1) local-to-global attribute building through iterative one-hop…

Object pose estimation is crucial to robotic perception and typically provides a single-pose estimate. However, a single estimate cannot capture pose uncertainty deriving from visual ambiguity, which can lead to unreliable behavior.…

The design of a tiny machine learning model, which can be deployed in mobile and edge devices, for point cloud object classification is investigated in this work. To achieve this objective, we replace the multi-scale representation of a…

We present an efficient and robust point cloud registration (PCR) workflow for part-wise rigid point cloud alignment using the Microsoft HoloLens 2. Point Cloud Registration (PCR) is an important problem in Augmented and Mixed Reality use…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

We address the problem of learning accurate 3D shape and camera pose from a collection of unlabeled category-specific images. We train a convolutional network to predict both the shape and the pose from a single image by minimizing the…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

Humans are able to perform fast and accurate object pose estimation even under severe occlusion by exploiting learned object model priors from everyday life. However, most recently proposed pose estimation algorithms neglect to utilize the…

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…

Self-supervised representation learning (SSRL) has gained increasing attention in point cloud understanding, in addressing the challenges posed by 3D data scarcity and high annotation costs. This paper presents PCExpert, a novel SSRL…

This paper presents a generalizable RGB-based approach for object pose estimation, specifically designed to address challenges in sparse-view settings. While existing methods can estimate the poses of unseen objects, their generalization…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

Existing approaches for unsupervised point cloud pre-training are constrained to either scene-level or point/voxel-level instance discrimination. Scene-level methods tend to lose local details that are crucial for recognizing the road…

Point cloud based methods have produced promising results in areas such as 3D object detection in autonomous driving. However, most of the recent point cloud work focuses on single depth sensor data, whereas less work has been done on…

Point Cloud-based Place Recognition (PCPR) demonstrates considerable potential in applications such as autonomous driving, robot localization and navigation, and map update. In practical applications, point clouds used for place recognition…