相关论文: Learning Geodesic-Aware Local Features from RGB-D …

Despite the advances in extracting local features achieved by handcrafted and learning-based descriptors, they are still limited by the lack of invariance to non-rigid transformations. In this paper, we present a new approach to compute…

The majority of descriptor-based methods for geometric processing of non-rigid shape rely on hand-crafted descriptors. Recently, learning-based techniques have been shown effective, achieving state-of-the-art results in a variety of tasks.…

Matching local geometric features on real-world depth images is a challenging task due to the noisy, low-resolution, and incomplete nature of 3D scan data. These difficulties limit the performance of current state-of-art methods, which are…

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…

Local geometric descriptors remain an essential component for 3D rigid data matching and fusion. The devise of a rotational invariant local geometric descriptor usually consists of two steps: local reference frame (LRF) construction and…

Learned local descriptors based on Convolutional Neural Networks (CNNs) have achieved significant improvements on patch-based benchmarks, whereas not having demonstrated strong generalization ability on recent benchmarks of image-based 3D…

The use of local detectors and descriptors in typical computer vision pipelines work well until variations in viewpoint and appearance change become extreme. Past research in this area has typically focused on one of two approaches to this…

This paper presents a novel method, named geodesic deformable networks (GDN), that for the first time enables the learning of geodesic flows of deformation fields derived from images. In particular, the capability of our proposed GDN being…

We introduce a novel RGB-D patch descriptor designed for detecting coplanar surfaces in SLAM reconstruction. The core of our method is a deep convolutional neural net that takes in RGB, depth, and normal information of a planar patch in an…

As a core step in structure-from-motion and SLAM, robust feature detection and description under challenging scenarios such as significant viewpoint changes remain unresolved despite their ubiquity. While recent works have identified the…

Indoor scene images usually contain scattered objects and various scene layouts, which make RGB-D scene classification a challenging task. Existing methods still have limitations for classifying scene images with great spatial variability.…

RGB-D semantic segmentation has attracted increasing attention over the past few years. Existing methods mostly employ homogeneous convolution operators to consume the RGB and depth features, ignoring their intrinsic differences. In fact,…

Applying data-driven approaches to non-rigid 3D reconstruction has been difficult, which we believe can be attributed to the lack of a large-scale training corpus. Unfortunately, this method fails for important cases such as highly…

Dynamic objects have a significant impact on the robot's perception of the environment which degrades the performance of essential tasks such as localization and mapping. In this work, we address this problem by synthesizing plausible…

Multi-modality of color and depth, i.e., RGB-D, is of great importance in recent research of indoor scene recognition. In this kind of data representation, depth map is able to describe the 3D structure of scenes and geometric relations…

In this paper, we tackle the problem of RGB-D semantic segmentation of indoor images. We take advantage of deconvolutional networks which can predict pixel-wise class labels, and develop a new structure for deconvolution of multiple…

Learning local descriptors is an important problem in computer vision. While there are many techniques for learning local patch descriptors for 2D images, recently efforts have been made for learning local descriptors for 3D points. The…

To address the issue of feature descriptors being ineffective in representing grayscale feature information when images undergo high affine transformations, leading to a rapid decline in feature matching accuracy, this paper proposes a…

Vision-based perception and reasoning is essential for scene understanding in any autonomous system. RGB and depth images are commonly used to capture both the semantic and geometric features of the environment. Developing methods to…

We describe a novel approach to image based localisation in urban environments using semantic matching between images and a 2-D map. It contrasts with the vast majority of existing approaches which use image to image database matching. We…