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

One practical approach to infer 3D scene structure from a single image is to retrieve a closely matching 3D model from a database and align it with the object in the image. Existing methods rely on supervised training with images and pose…

This paper addresses the task of estimating the 6 degrees of freedom pose of a known 3D object from depth information represented by a point cloud. Deep features learned by convolutional neural networks from color information have been the…

Although supervised deep normal estimators have recently shown impressive results on synthetic benchmarks, their performance deteriorates significantly in real-world scenarios due to the domain gap between synthetic and real data. Building…

The challenges of learning a robust 6D pose function lie in 1) severe occlusion and 2) systematic noises in depth images. Inspired by the success of point-pair features, the goal of this paper is to recover the 6D pose of an object instance…

The goal of this paper is to estimate the viewpoint for a novel object. Standard viewpoint estimation approaches generally fail on this task due to their reliance on a 3D model for alignment or large amounts of class-specific training data…

The PointHop method was recently proposed by Zhang et al. for 3D point cloud classification with unsupervised feature extraction. It has an extremely low training complexity while achieving state-of-the-art classification performance. In…

With the increased availability of 3D scanning technology, point clouds are moving into the focus of computer vision as a rich representation of everyday scenes. However, they are hard to handle for machine learning algorithms due to their…

Point cloud segmentation is a fundamental visual understanding task in 3D vision. A fully supervised point cloud segmentation network often requires a large amount of data with point-wise annotations, which is expensive to obtain. In this…

Modern agricultural applications rely more and more on deep learning solutions. However, training well-performing deep networks requires a large amount of annotated data that may not be available and in the case of 3D annotation may not…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

3D object detection from raw and sparse point clouds has been far less treated to date, compared with its 2D counterpart. In this paper, we propose a novel framework called FVNet for 3D front-view proposal generation and object detection…

Viewpoint estimation for known categories of objects has been improved significantly thanks to deep networks and large datasets, but generalization to unknown categories is still very challenging. With an aim towards improving performance…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

Estimating the 6D pose of objects unseen during training is highly desirable yet challenging. Zero-shot object 6D pose estimation methods address this challenge by leveraging additional task-specific supervision provided by large-scale,…

Dense object tracking, the ability to localize specific object points with pixel-level accuracy, is an important computer vision task with numerous downstream applications in robotics. Existing approaches either compute dense keypoint…

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…

This paper proposes a general solution to enable point cloud recognition models to handle distribution shifts at test time. Unlike prior methods, which rely heavily on training data (often inaccessible during online inference) and are…

We propose a novel, conceptually simple and general framework for instance segmentation on 3D point clouds. Our method, called 3D-BoNet, follows the simple design philosophy of per-point multilayer perceptrons (MLPs). The framework directly…

In this paper, a real-time method called PoP-Net is proposed to predict multi-person 3D poses from a depth image. PoP-Net learns to predict bottom-up part representations and top-down global poses in a single shot. Specifically, a new…

Current works on multi-person 3D pose estimation mainly focus on the estimation of the 3D joint locations relative to the root joint and ignore the absolute locations of each pose. In this paper, we propose the Human Depth Estimation…