相关论文: DELFlow: Dense Efficient Learning of Scene Flow fo…

Current methods for dense 3D point tracking in dynamic scenes typically rely on pairwise processing, require known camera poses, or assume temporal ordering of input frames, thereby constraining their flexibility and applicability.…

Point clouds are a widely available and canonical data modality which convey the 3D geometry of a scene. Despite significant progress in classification and segmentation from point clouds, policy learning from such a modality remains…

In contrast to the literature where local patterns in 3D point clouds are captured by customized convolutional operators, in this paper we study the problem of how to effectively and efficiently project such point clouds into a 2D image…

Scene flow is the task of estimating 3D motion vectors to individual points of a dynamic 3D scene. Motion vectors have shown to be beneficial for downstream tasks such as action classification and collision avoidance. However, data…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

Many types of 3D acquisition sensors have emerged in recent years and point cloud has been widely used in many areas. Accurate and fast registration of cross-source 3D point clouds from different sensors is an emerged research problem in…

Normal estimation on 3D point clouds is a fundamental problem in 3D vision and graphics. Current methods often show limited accuracy in predicting normals at sharp features (e.g., edges and corners) and less robustness to noise. In this…

Given two consecutive RGB-D images, we propose a model that estimates a dense 3D motion field, also known as scene flow. We take advantage of the fact that in robot manipulation scenarios, scenes often consist of a set of rigidly moving…

Generating a 3D point cloud from a single 2D image is of great importance for 3D scene understanding applications. To reconstruct the whole 3D shape of the object shown in the image, the existing deep learning based approaches use either…

In this paper, we tackle the challenging problem of point cloud completion from the perspective of feature learning. Our key observation is that to recover the underlying structures as well as surface details, given partial input, a…

This work proposes a metric learning approach for self-supervised scene flow estimation. Scene flow estimation is the task of estimating 3D flow vectors for consecutive 3D point clouds. Such flow vectors are fruitful, \eg for recognizing…

Scene flow estimation is an essential ingredient for a variety of real-world applications, especially for autonomous agents, such as self-driving cars and robots. While recent scene flow estimation approaches achieve a reasonable accuracy,…

The recent success of pre-trained 2D vision models is mostly attributable to learning from large-scale datasets. However, compared with 2D image datasets, the current pre-training data of 3D point cloud is limited. To overcome this…

This paper addresses the problem of estimating the 3-DoF camera pose for a ground-level image with respect to a satellite image that encompasses the local surroundings. We propose a novel end-to-end approach that leverages the learning of…

Point cloud frame interpolation is a challenging task that involves accurate scene flow estimation across frames and maintaining the geometry structure. Prevailing techniques often rely on pre-trained motion estimators or intensive…

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…

Learning to generate 3D point clouds without 3D supervision is an important but challenging problem. Current solutions leverage various differentiable renderers to project the generated 3D point clouds onto a 2D image plane, and train deep…

State-of-the-art neural network models for optical flow estimation require a dense correlation volume at high resolutions for representing per-pixel displacement. Although the dense correlation volume is informative for accurate estimation,…

Estimating the complete 3D point cloud from an incomplete one is a key problem in many vision and robotics applications. Mainstream methods (e.g., PCN and TopNet) use Multi-layer Perceptrons (MLPs) to directly process point clouds, which…

Feature fusion and similarity computation are two core problems in 3D object tracking, especially for object tracking using sparse and disordered point clouds. Feature fusion could make similarity computing more efficient by including…