相关论文: Rotationally Equivariant 3D Object Detection

Detection of objects is extremely important in various aerial vision-based applications. Over the last few years, the methods based on convolution neural networks have made substantial progress. However, because of the large variety of…

The ability of convolutional neural networks (CNNs) to recognize objects regardless of their position in the image is due to the translation-equivariance of the convolutional operation. Group-equivariant CNNs transfer this equivariance to…

6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…

Nowadays, service robots are appearing more and more in our daily life. For this type of robot, open-ended object category learning and recognition is necessary since no matter how extensive the training data used for batch learning, the…

Incorporating inductive bias by embedding geometric entities (such as rays) as input has proven successful in multi-view learning. However, the methods adopting this technique typically lack equivariance, which is crucial for effective 3D…

State-of-the-art deep learning systems often require large amounts of data and computation. For this reason, leveraging known or unknown structure of the data is paramount. Convolutional neural networks (CNNs) are successful examples of…

Due to object detection's close relationship with video analysis and image understanding, it has attracted much research attention in recent years. Traditional object detection methods are built on handcrafted features and shallow trainable…

3D Convolutional Neural Networks are sensitive to transformations applied to their input. This is a problem because a voxelized version of a 3D object, and its rotated clone, will look unrelated to each other after passing through to the…

Extending the translation equivariance property of convolutional neural networks to larger symmetry groups has been shown to reduce sample complexity and enable more discriminative feature learning. Further, exploiting additional symmetries…

Humans perceive and interact with the world with the awareness of equivariance, facilitating us in manipulating different objects in diverse poses. For robotic manipulation, such equivariance also exists in many scenarios. For example, no…

Existing computer vision and object detection methods strongly rely on neural networks and deep learning. This active research area is used for applications such as autonomous driving, aerial photography, protection, and monitoring.…

Convolutional networks are successful due to their equivariance/invariance under translations. However, rotatable data such as images, volumes, shapes, or point clouds require processing with equivariance/invariance under rotations in cases…

Visual intelligence at the edge is becoming a growing necessity for low latency applications and situations where real-time decision is vital. Object detection, the first step in visual data analytics, has enjoyed significant improvements…

Spherical convolutional networks have been introduced recently as tools to learn powerful feature representations of 3D shapes. Spherical CNNs are equivariant to 3D rotations making them ideally suited to applications where 3D data may be…

Modern neural networks use building blocks such as convolutions that are equivariant to arbitrary 2D translations. However, these vanilla blocks are not equivariant to arbitrary 3D translations in the projective manifold. Even then, all…

We demonstrate an object tracking method for 3D images with fixed computational cost and state-of-the-art performance. Previous methods predicted transformation parameters from convolutional layers. We instead propose an architecture that…

Accurate 3D object detection is crucial for autonomous vehicles and robots to navigate and interact with the environment safely and effectively. Meanwhile, the performance of 3D detector relies on the data size and annotation which is…

Recent work has shown good recognition results in 3D object recognition using 3D convolutional networks. In this paper, we show that the object orientation plays an important role in 3D recognition. More specifically, we argue that objects…

Multi-modal sensor fusion in Bird's Eye View (BEV) representation has become the leading approach for 3D object detection. However, existing methods often rely on depth estimators or transformer encoders to transform image features into BEV…

Detection of arbitrarily rotated objects is a challenging task due to the difficulties of locating the multi-angle objects and separating them effectively from the background. The existing methods are not robust to angle varies of the…