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

We present a novel learning-based approach for computing correspondences between non-rigid 3D shapes. Unlike previous methods that either require extensive training data or operate on handcrafted input descriptors and thus generalize poorly…

We propose a self-supervised training approach for learning view-invariant dense visual descriptors using image augmentations. Unlike existing works, which often require complex datasets, such as registered RGBD sequences, we train on an…

Recent advances in scene understanding benefit a lot from depth maps because of the 3D geometry information, especially in complex conditions (e.g., low light and overexposed). Existing approaches encode depth maps along with RGB images and…

We propose a new deep learning architecture for the tasks of semantic segmentation and depth prediction from RGB-D images. We revise the state of art based on the RGB and depth feature fusion, where both modalities are assumed to be…

We present a 3D object detection method that uses regressed descriptors of locally-sampled RGB-D patches for 6D vote casting. For regression, we employ a convolutional auto-encoder that has been trained on a large collection of random local…

Local image feature descriptors have had a tremendous impact on the development and application of computer vision methods. It is therefore unsurprising that significant efforts are being made for learning-based image point descriptors.…

Fully-supervised CNN-based approaches for learning local image descriptors have shown remarkable results in a wide range of geometric tasks. However, most of them require per-pixel ground-truth keypoint correspondence data which is…

Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we…

We investigate the use of photometric invariance and deep learning to compute intrinsic images (albedo and shading). We propose albedo and shading gradient descriptors which are derived from physics-based models. Using the descriptors,…

Recent learning-based visual localization methods use global descriptors to disambiguate visually similar places, but existing approaches often derive these descriptors from geometric cues alone (e.g., covisibility graphs), limiting their…

In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…

Local feature extraction is a standard approach in computer vision for tackling important tasks such as image matching and retrieval. The core assumption of most methods is that images undergo affine transformations, disregarding more…

A method for learning local affine-covariant regions is presented. We show that maximizing geometric repeatability does not lead to local regions, a.k.a features,that are reliably matched and this necessitates descriptor-based learning. We…

Classical shape descriptors such as Heat Kernel Signature (HKS), Wave Kernel Signature (WKS), and Signature of Histograms of OrienTations (SHOT), while widely used in shape analysis, exhibit sensitivity to mesh connectivity, sampling…

This paper focuses on designing data-driven models to learn a discriminant representation space for face recognition using RGB-D data. Unlike hand-crafted representations, learned models can extract and organize the discriminant information…

Image alignment tasks require accurate pixel correspondences, which are usually recovered by matching local feature descriptors. Such descriptors are often derived using supervised learning on existing datasets with ground truth…

Local binary pattern (LBP) as a kind of local feature has shown its simplicity, easy implementation and strong discriminating power in image recognition. Although some LBP variants are specifically investigated for color image recognition,…

We propose a novel iterative method to adapt a a graph to d-dimensional image data. The method drives the nodes of the graph towards image features. The adaptation process naturally lends itself to a measure of feature saliency which can…

Recovering the radiometric properties of a scene (i.e., the reflectance, illumination, and geometry) is a long-sought ability of computer vision that can provide invaluable information for a wide range of applications. Deciphering the…

We present a novel learned keypoint detection method designed to maximize the number of correct matches for the task of non-rigid image correspondence. Our training framework uses true correspondences, obtained by matching annotated image…