相关论文: A Tiny Machine Learning Model for Point Cloud Obje…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

We present SLNet, a lightweight backbone for 3D point cloud recognition designed to achieve strong performance without the computational cost of many recent attention, graph, and deep MLP based models. The model is built on two simple…

Point clouds data, as one kind of representation of 3D objects, are the most primitive output obtained by 3D sensors. Unlike 2D images, point clouds are disordered and unstructured. Hence it is not straightforward to apply classification…

Point cloud registration is a fundamental task in many applications such as localization, mapping, tracking, and reconstruction. Successful registration relies on extracting robust and discriminative geometric features. Though existing…

The world around us is full of soft objects we perceive and deform with dexterous hand movements. For a robotic hand to control soft objects, it has to acquire online state feedback of the deforming object. While RGB-D cameras can collect…

Three-dimensional (3D) point cloud analysis has become one of the attractive subjects in realistic imaging and machine visions due to its simplicity, flexibility and powerful capacity of visualization. Actually, the representation of scenes…

In this paper we present our research on the optimisation of a deep neural network for 3D object detection in a point cloud. Techniques like quantisation and pruning available in the Brevitas and PyTorch tools were used. We performed the…

Point cloud analysis is challenging due to irregularity and unordered data structure. To capture the 3D geometries, prior works mainly rely on exploring sophisticated local geometric extractors using convolution, graph, or attention…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…

Point cloud segmentation is one of the most important tasks in computer vision with widespread scientific, industrial, and commercial applications. The research thereof has resulted in many breakthroughs in 3D object and scene…

We introduce a novel framework for Continual Learning in 3D object classification. Our approach, CL3D, is based on the selection of prototypes from each class using spectral clustering. For non-Euclidean data such as point clouds, spectral…

Recently, 3D point cloud classification has made significant progress with the help of many datasets. However, these datasets do not reflect the incomplete nature of real-world point clouds caused by occlusion, which limits the practical…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

Pre-training a model and then fine-tuning it on downstream tasks has demonstrated significant success in the 2D image and NLP domains. However, due to the unordered and non-uniform density characteristics of point clouds, it is non-trivial…

Aggregating neighbor features is essential for point cloud classification. In the existing work, each point in the cloud may inevitably be selected as the neighbors of multiple aggregation centers, as all centers will gather neighbor…

Humans are able to perform fast and accurate object pose estimation even under severe occlusion by exploiting learned object model priors from everyday life. However, most recently proposed pose estimation algorithms neglect to utilize the…

The task of detecting 3D objects is important to various robotic applications. The existing deep learning-based detection techniques have achieved impressive performance. However, these techniques are limited to run with a graphics…

Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion.…

Accurate classification of objects in 3D point clouds is a significant problem in several applications, such as autonomous navigation and augmented/virtual reality scenarios, which has become a research hot spot. In this paper, we presented…