相关论文: Back to 3D: Few-Shot 3D Keypoint Detection with Ba…

How to aggregate multi-view representations of a 3D object into an informative and discriminative one remains a key challenge for multi-view 3D object retrieval. Existing methods either use view-wise pooling strategies which neglect the…

The size of 3D models used on the web or stored in databases is becoming increasingly high. Then, an efficient method that allows users to find similar 3D objects for a given 3D model query has become necessary. Keywords and the geometry of…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

Promising complementarity exists between the texture features of color images and the geometric information of LiDAR point clouds. However, there still present many challenges for efficient and robust feature fusion in the field of 3D…

For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…

In 3D shape recognition, multi-view based methods leverage human's perspective to analyze 3D shapes and have achieved significant outcomes. Most existing research works in deep learning adopt handcrafted networks as backbones due to their…

Monocular 3D shape recovery is fundamental to geometric understanding, yet achieving robust generalization across arbitrary viewpoints and unseen object categories remains a significant challenge. In this paper, we present a generalizable…

Online zero-shot 3D instance segmentation of a progressively reconstructed scene is both a critical and challenging task for embodied applications. With the success of visual foundation models (VFMs) in the image domain, leveraging 2D…

Model efficiency has become increasingly important in computer vision. In this paper, we systematically study neural network architecture design choices for object detection and propose several key optimizations to improve efficiency.…

Dense image alignment from RGB-D images remains a critical issue for real-world applications, especially under challenging lighting conditions and in a wide baseline setting. In this paper, we propose a new framework to learn a pixel-wise…

This paper introduces KeyDiff3D, a framework for unsupervised monocular 3D keypoints estimation that accurately predicts 3D keypoints from a single image. While previous methods rely on manual annotations or calibrated multi-view images,…

2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…

While previous studies have demonstrated successful 3D object shape completion with a sufficient number of points, they often fail in scenarios when a few points, e.g. tens of points, are observed. Surprisingly, via entropy analysis, we…

Local features are essential to many modern downstream applications. Therefore, it is of interest to determine the properties of local features that contribute to the downstream performance for a better design of feature detectors and…

The key challenge of multi-view indoor 3D object detection is to infer accurate geometry information from images for precise 3D detection. Previous method relies on NeRF for geometry reasoning. However, the geometry extracted from NeRF is…

Humans can infer the three-dimensional structure of objects from two-dimensional visual inputs. Modeling this ability has been a longstanding goal for the science and engineering of visual intelligence, yet decades of computational methods…

Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…

In this paper, we propose an efficient feature pruning strategy for 3D small object detection. Conventional 3D object detection methods struggle on small objects due to the weak geometric information from a small number of points. Although…

The multi-line LiDAR is widely used in autonomous vehicles, so point cloud-based 3D detectors are essential for autonomous driving. Extracting rich multi-scale features is crucial for point cloud-based 3D detectors in autonomous driving due…