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

Manipulating transparent objects presents significant challenges due to the complexities introduced by their reflection and refraction properties, which considerably hinder the accurate estimation of their 3D shapes. To address these…

We present DFormer, a novel RGB-D pretraining framework to learn transferable representations for RGB-D segmentation tasks. DFormer has two new key innovations: 1) Unlike previous works that encode RGB-D information with RGB pretrained…

Using the raw data from consumer-level RGB-D cameras as input, we propose a deep-learning based approach to efficiently generate RGB-D images with completed information in high resolution. To process the input images in low resolution with…

Fine-detailed reconstructions are in high demand in many applications. However, most of the existing RGB-D reconstruction methods rely on pre-calculated accurate camera poses to recover the detailed surface geometry, where the…

Correspondence estimation is one of the most widely researched and yet only partially solved area of computer vision with many applications in tracking, mapping, recognition of objects and environment. In this paper, we propose a novel way…

Deep convolutional networks (CNN) can achieve impressive results on RGB scene recognition thanks to large datasets such as Places. In contrast, RGB-D scene recognition is still underdeveloped in comparison, due to two limitations of RGB-D…

Current best local descriptors are learned on a large dataset of matching and non-matching keypoint pairs. However, data of this kind is not always available since detailed keypoint correspondences can be hard to establish. On the other…

Scene recognition with RGB images has been extensively studied and has reached very remarkable recognition levels, thanks to convolutional neural networks (CNN) and large scene datasets. In contrast, current RGB-D scene data is much more…

We present a new local descriptor for 3D shapes, directly applicable to a wide range of shape analysis problems such as point correspondences, semantic segmentation, affordance prediction, and shape-to-scan matching. The descriptor is…

Efficient RGB-D semantic segmentation has received considerable attention in mobile robots, which plays a vital role in analyzing and recognizing environmental information. According to previous studies, depth information can provide…

Robust data association is necessary for virtually every SLAM system and finding corresponding points is typically a preprocessing step for scan alignment algorithms. Traditionally, handcrafted feature descriptors were used for these…

Deformable shapes provide important and complex geometric features of objects presented in images. However, such information is oftentimes missing or underutilized as implicit knowledge in many image analysis tasks. This paper presents…

Perception is crucial for robots that act in real-world environments, as autonomous systems need to see and understand the world around them to act properly. Panoptic segmentation provides an interpretation of the scene by computing a…

Segmenting unseen objects in cluttered scenes is an important skill that robots need to acquire in order to perform tasks in new environments. In this work, we propose a new method for unseen object instance segmentation by learning RGB-D…

Planar grasp detection is one of the most fundamental tasks to robotic manipulation, and the recent progress of consumer-grade RGB-D sensors enables delivering more comprehensive features from both the texture and shape modalities. However,…

In domestic environments, robots require a comprehensive understanding of their surroundings to interact effectively and intuitively with untrained humans. In this paper, we propose DVEFormer - an efficient RGB-D Transformer-based approach…

Interest point detection and local feature description are fundamental steps in many computer vision applications. Classical methods for these tasks are based on a detect-then-describe paradigm where separate handcrafted methods are used to…

The growing availability of commodity RGB-D cameras has boosted the applications in the field of scene understanding. However, as a fundamental scene understanding task, surface normal estimation from RGB-D data lacks thorough…

Depth images captured by off-the-shelf RGB-D cameras suffer from much stronger noise than color images. In this paper, we propose a method to denoise the depth images in RGB-D images by color-guided graph filtering. Our iterative method…

Image space feature detection is the act of selecting points or parts of an image that are easy to distinguish from the surrounding image region. By combining a repeatable point detection with a descriptor, parts of an image can be matched…