相关论文: REGTR: End-to-end Point Cloud Correspondences with…

Matching 3D rigid point clouds in complex environments robustly and accurately is still a core technique used in many applications. This paper proposes a new architecture combining error estimation from sample covariances and dual global…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

In this paper, we propose a simple and strong framework for Tracking Any Point with TRansformers (TAPTR). Based on the observation that point tracking bears a great resemblance to object detection and tracking, we borrow designs from…

This paper focuses on motion prediction for point cloud sequences in the challenging case of deformable 3D objects, such as human body motion. First, we investigate the challenges caused by deformable shapes and complex motions present in…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

Recently, there has been an increasing interest in end-to-end speech recognition that directly transcribes speech to text without any predefined alignments. One approach is the attention-based encoder-decoder framework that learns a mapping…

The extraction of a scene graph with objects as nodes and mutual relationships as edges is the basis for a deep understanding of image content. Despite recent advances, such as message passing and joint classification, the detection of…

Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. However, the absence of accurate and automated registration…

While the Transformer architecture has become ubiquitous in the machine learning field, its adaptation to 3D shape recognition is non-trivial. Due to its quadratic computational complexity, the self-attention operator quickly becomes…

We propose 3DETR, an end-to-end Transformer based object detection model for 3D point clouds. Compared to existing detection methods that employ a number of 3D-specific inductive biases, 3DETR requires minimal modifications to the vanilla…

Sequential recommendation requires the recommender to capture the evolving behavior characteristics from logged user behavior data for accurate recommendations. However, user behavior sequences are viewed as a script with multiple ongoing…

Recent machine learning-based multi-object tracking (MOT) frameworks are becoming popular for 3-D point clouds. Most traditional tracking approaches use filters (e.g., Kalman filter or particle filter) to predict object locations in a time…

Despite the increasing research interest in end-to-end learning systems for speech emotion recognition, conventional systems either suffer from the overfitting due in part to the limited training data, or do not explicitly consider the…

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…

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…

Roof plane segmentation is one of the key procedures for reconstructing three-dimensional (3D) building models at levels of detail (LoD) 2 and 3 from airborne light detection and ranging (LiDAR) point clouds. The majority of current…

We propose a novel framework for finding correspondences in images based on a deep neural network that, given two images and a query point in one of them, finds its correspondence in the other. By doing so, one has the option to query only…

This paper concerns the research problem of point cloud registration to find the rigid transformation to optimally align the source point set with the target one. Learning robust point cloud registration models with deep neural networks has…

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…

We present Lepard, a Learning based approach for partial point cloud matching in rigid and deformable scenes. The key characteristics are the following techniques that exploit 3D positional knowledge for point cloud matching: 1) An…