相关论文: UTOPIC: Uncertainty-aware Overlap Prediction Netwo…

This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…

Global point cloud registration is essential in many robotics tasks like loop closing and relocalization. Unfortunately, the registration often suffers from the low overlap between point clouds, a frequent occurrence in practical…

LiDAR Upsampling is a challenging task for the perception systems of robots and autonomous vehicles, due to the sparse and irregular structure of large-scale scene contexts. Recent works propose to solve this problem by converting LiDAR…

Shape completion, i.e., predicting the complete geometry of an object from a partial observation, is highly relevant for several downstream tasks, most notably robotic manipulation. When basing planning or prediction of real grasps on…

3D contrastive representation learning has exhibited remarkable efficacy across various downstream tasks. However, existing contrastive learning paradigms based on cosine similarity fail to deeply explore the potential intra-modal…

We propose Uncertainty Augmented Context Attention network (UACANet) for polyp segmentation which consider a uncertain area of the saliency map. We construct a modified version of U-Net shape network with additional encoder and decoder and…

In image-guided liver surgery, the initial rigid alignment between preoperative and intraoperative data, often represented as point clouds, is crucial for providing sub-surface information from preoperative CT/MRI images to the surgeon…

We present a new paradigm for rigid alignment between point clouds based on learnable weighted consensus which is robust to noise as well as the full spectrum of the rotation group. Current models, learnable or axiomatic, work well for…

Point clouds are widely used representations of 3D data, but determining the visibility of points from a given viewpoint remains a challenging problem due to their sparse nature and lack of explicit connectivity. Traditional methods, such…

Point cloud registration, a fundamental task in 3D vision, has achieved remarkable success with learning-based methods in outdoor environments. Unsupervised outdoor point cloud registration methods have recently emerged to circumvent the…

In the domain of point cloud registration, the coarse-to-fine feature matching paradigm has received substantial attention owing to its impressive performance. This paradigm involves a two-step process: first, the extraction of multi-level…

Traffic matrix measurement is fundamental for datacenter operations, but obtaining complete traffic matrices at scale remains challenging due to the prohibitive cost of global fine-grained measurement and partial observations resulting from…

Transformer-based language models have set new benchmarks across a wide range of NLP tasks, yet reliably estimating the uncertainty of their predictions remains a significant challenge. Existing uncertainty estimation (UE) techniques often…

Point cloud registration approaches often fail when the overlap between point clouds is low due to noisy point correspondences. This work introduces a novel cross-attention mechanism tailored for Transformer-based architectures that tackles…

Point cloud learning is receiving increasing attention. However, most existing point cloud models lack the practical ability to deal with the unavoidable presence of unknown objects. This paper primarily discusses point cloud learning in…

Unsupervised 3D representation learning reduces the burden of labeling multimodal 3D data for fusion perception tasks. Among different pre-training paradigms, differentiable-rendering-based methods have shown most promise. However, existing…

The precision of unsupervised point cloud registration methods is typically limited by the lack of reliable inlier estimation and self-supervised signal, especially in partially overlapping scenarios. In this paper, we propose an effective…

Iterative Closest Point (ICP) is a commonly used algorithm to estimate transformation between two point clouds. The key idea of this work is to leverage recent advances in explainable AI for probabilistic ICP methods that provide…

We introduce a new approach for reconstruction and novel view synthesis of unbounded real-world scenes. In contrast to previous methods using either volumetric fields, grid-based models, or discrete point cloud proxies, we propose a hybrid…

The task of point cloud completion aims to predict the missing part for an incomplete 3D shape. A widely used strategy is to generate a complete point cloud from the incomplete one. However, the unordered nature of point clouds will degrade…