相关论文: Evaluating 3D Shape Analysis Methods for Robustnes…

In this paper, we study the problem of reconstructing a 3D point source model from a set of 2D projections at unknown view angles. Our method obviates the need to recover the projection angles by extracting a set of rotation-invariant…

Determining the 3D orientations of an object in an image, known as single-image pose estimation, is a crucial task in 3D vision applications. Existing methods typically learn 3D rotations parametrized in the spatial domain using Euler…

This paper uses clustering algorithms to introduce a shape framework for deformable objects. Until now, the shape detection of the deformable objects has faced several challenges: 1) unable to form a unified framework for multiple shapes;…

The intrinsic rotation invariance lies at the core of matching point clouds with handcrafted descriptors. However, it is widely despised by recent deep matchers that obtain the rotation invariance extrinsically via data augmentation. As the…

Monocular 3D object detection plays a pivotal role in the field of autonomous driving and numerous deep learning-based methods have made significant breakthroughs in this area. Despite the advancements in detection accuracy and efficiency,…

Large intra-class variation is the result of changes in multiple object characteristics. Images, however, only show the superposition of different variable factors such as appearance or shape. Therefore, learning to disentangle and…

Many innovative applications require establishing correspondences among 3D geometric objects. However, the countless possible deformations of smooth surfaces make shape matching a challenging task. Finding an embedding to represent the…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…

Rotation equivariance has recently become a strongly desired property in the 3D deep learning community. Yet most existing methods focus on equivariance regarding a global input rotation while ignoring the fact that rotation symmetry has…

This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…

Recent interest in point cloud analysis has led rapid progress in designing deep learning methods for 3D models. However, state-of-the-art models are not robust to rotations, which remains an unknown prior to real applications and harms the…

LiDAR based place recognition is popular for loop closure detection and re-localization. In recent years, deep learning brings improvements to place recognition by learnable feature extraction. However, these methods degenerate when the…

We present a method for 3D object detection and pose estimation from a single image. In contrast to current techniques that only regress the 3D orientation of an object, our method first regresses relatively stable 3D object properties…

Reliable watermarking of panoramic imagery is fundamentally challenged by arbitrary 3D rotations. As panoramas are defined on the sphere, they naturally transform under the action of $SO(3)$, rendering conventional planar representations…

We add one more invariance - the state invariance - to the more commonly used other invariances for learning object representations for recognition and retrieval. By state invariance, we mean robust with respect to changes in the structural…

Object functionality is often expressed through part articulation -- as when the two rigid parts of a scissor pivot against each other to perform the cutting function. Such articulations are often similar across objects within the same…

We present a method for localizing a single camera with respect to a point cloud map in indoor and outdoor scenes. The problem is challenging because correspondences of local invariant features are inconsistent across the domains between…

3D object recognition is a challenging task for intelligent and robot systems in industrial and home indoor environments. It is critical for such systems to recognize and segment the 3D object instances that they encounter on a frequent…

We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…

Despite the recent active research on processing point clouds with deep networks, few attention has been on the sensitivity of the networks to rotations. In this paper, we propose a deep learning architecture that achieves discrete…