相关论文: KeyMatchNet: Zero-Shot Pose Estimation in 3D Point…

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…

This paper presents a fast detection and 5 DoF (Degrees of Freedom) pose estimation network for colorless point clouds. The pose estimation is calculated from center and top points of the object, predicted by the neural network. The network…

Relative pose estimation provides a promising way for achieving object-agnostic pose estimation. Despite the success of existing 3D correspondence-based methods, the reliance on explicit feature matching suffers from small overlaps in…

Deep learning for object classification relies heavily on convolutional models. While effective, CNNs are rarely interpretable after the fact. An attention mechanism can be used to highlight the area of the image that the model focuses on…

3D part assembly aims to understand part relationships and predict their 6-DoF poses to construct realistic 3D shapes, addressing the growing demand for autonomous assembly, which is crucial for robots. Existing methods mainly estimate the…

In this work, we propose a novel method for generating 3D point clouds that leverage properties of hyper networks. Contrary to the existing methods that learn only the representation of a 3D object, our approach simultaneously finds a…

Autonomous vehicles generate massive volumes of point cloud data, yet only a subset is relevant for specific tasks such as collision detection, traffic analysis, or congestion monitoring. Effectively querying this data is essential to…

Estimating the pose of objects through vision is essential to make robotic platforms interact with the environment. Yet, it presents many challenges, often related to the lack of flexibility and generalizability of state-of-the-art…

Although 3D point cloud data has received widespread attentions as a general form of 3D signal expression, applying point clouds to the task of dense correspondence estimation between 3D shapes has not been investigated widely. Furthermore,…

Many applications in robotics and human-computer interaction can benefit from understanding 3D motion of points in a dynamic environment, widely noted as scene flow. While most previous methods focus on stereo and RGB-D images as input, few…

In this work, we present a novel meta-learning algorithm, i.e. TTNet, that regresses model parameters for novel tasks for which no ground truth is available (zero-shot tasks). In order to adapt to novel zero-shot tasks, our meta-learner…

Large and rich data is a prerequisite for effective training of deep neural networks. However, the irregularity of point cloud data makes manual annotation time-consuming and laborious. Self-supervised representation learning, which…

We address the challenge of building task-agnostic classifiers using only text descriptions, demonstrating a unified approach to image classification, 3D point cloud classification, and action recognition from scenes. Unlike approaches that…

Single shot approaches have demonstrated tremendous success on various computer vision tasks. Finding good parameterizations for 6D object pose estimation remains an open challenge. In this work, we propose different novel parameterizations…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

Incorporating a customized object into image generation presents an attractive feature in text-to-image generation. However, existing optimization-based and encoder-based methods are hindered by drawbacks such as time-consuming…

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…

This paper introduces Point-GN, a novel non-parametric network for efficient and accurate 3D point cloud classification. Unlike conventional deep learning models that rely on a large number of trainable parameters, Point-GN leverages…

Object pose estimation is frequently achieved by first segmenting an RGB image and then, given depth data, registering the corresponding point cloud segment against the object's 3D model. Despite the progress due to CNNs, semantic…