相关论文: ONE PIECE: One Patchwork In Effectively Combined E…

We are interested in reconstructing the mesh representation of object surfaces from point clouds. Surface reconstruction is a prerequisite for downstream applications such as rendering, collision avoidance for planning, animation, etc.…

This paper addresses the problem of generating uniform dense point clouds to describe the underlying geometric structures from given sparse point clouds. Due to the irregular and unordered nature, point cloud densification as a generative…

Given point cloud input, the problem of 6-DoF grasp pose detection is to identify a set of hand poses in SE(3) from which an object can be successfully grasped. This important problem has many practical applications. Here we propose a novel…

In robotic fruit picking applications, managing object occlusion in unstructured settings poses a substantial challenge for designing grasping algorithms. Using strawberry harvesting as a case study, we present an end-to-end framework for…

Generating 3D point clouds is challenging yet highly desired. This work presents a novel autoregressive model, PointGrow, which can generate diverse and realistic point cloud samples from scratch or conditioned on semantic contexts. This…

In this work, we explore the idea that effective generative models for point clouds under the autoencoding framework must acknowledge the relationship between a continuous surface, a discretized mesh, and a set of points sampled from the…

In this paper, we propose a object detection method expressed as rotated bounding box to solve grasping challenge in the scenes where rigid objects and soft objects are mixed together. Compared with traditional detection methods, this…

Point clouds have become increasingly vital across various applications thanks to their ability to realistically depict 3D objects and scenes. Nevertheless, effectively compressing unstructured, high-precision point cloud data remains a…

Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work…

Point clouds obtained from 3D scans are typically sparse, irregular, and noisy, and required to be consolidated. In this paper, we present the first deep learning based edge-aware technique to facilitate the consolidation of point clouds.…

In this paper, we propose a pipeline to generate 3D point cloud of an object from a single-view RGB image. Most previous work predict the 3D point coordinates from single RGB images directly. We decompose this problem into depth estimation…

3D object detection often involves complicated training and testing pipelines, which require substantial domain knowledge about individual datasets. Inspired by recent non-maximum suppression-free 2D object detection models, we propose a 3D…

Grasp pose detection in cluttered, real-world environments remains a significant challenge due to noisy and incomplete sensory data combined with complex object geometries. This paper introduces Grasp the Graph 2.0 (GtG 2.0) method, a…

Geometrical structures and the internal local region relationship, such as symmetry, regular array, junction, etc., are essential for understanding a 3D shape. This paper proposes a point cloud feature extraction network named PointSCNet,…

One goal of dexterous robotic grasping is to allow robots to handle objects with the same level of flexibility and adaptability as humans. However, it remains a challenging task to generate an optimal grasping strategy for dexterous hands,…

Point cloud is a crucial representation of 3D contents, which has been widely used in many areas such as virtual reality, mixed reality, autonomous driving, etc. With the boost of the number of points in the data, how to efficiently…

Point clouds, being the simple and compact representation of surface geometry of 3D objects, have gained increasing popularity with the evolution of deep learning networks for classification and segmentation tasks. Unlike human, teaching…

Grasping is among the most fundamental and long-lasting problems in robotics study. This paper studies the problem of 6-DoF(degree of freedom) grasping by a parallel gripper in a cluttered scene captured using a commodity depth sensor from…

A deep learning architecture is proposed to predict graspable locations for robotic manipulation. It considers situations where no, one, or multiple object(s) are seen. By defining the learning problem to be classification with null…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…