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

In this paper, we present a novel approach that exploits the information within the descriptor space to propose keypoint locations. Detect then describe, or detect and describe jointly are two typical strategies for extracting local…

3D object detection is vital for many robotics applications. For tasks where a 2D perspective range image exists, we propose to learn a 3D representation directly from this range image view. To this end, we designed a 2D convolutional…

We introduce a novel approach for keypoint detection task that combines handcrafted and learned CNN filters within a shallow multi-scale architecture. Handcrafted filters provide anchor structures for learned filters, which localize, score…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

We present Location Field Descriptors, a novel approach for single image 3D model retrieval in the wild. In contrast to previous methods that directly map 3D models and RGB images to an embedding space, we establish a common low-level…

User generated 3D shapes in online repositories contain rich information about surfaces, primitives, and their geometric relations, often arranged in a hierarchy. We present a framework for learning representations of 3D shapes that reflect…

We address the problems of measuring geometric similarity between 3D scenes, represented through point clouds or range data frames, and associating them. Our approach leverages macro-scale 3D structural geometry - the relative configuration…

For non-rigid objects, predicting the 3D shape from 2D keypoint observations is ill-posed due to occlusions, and the need to disentangle changes in viewpoint and changes in shape. This challenge has often been addressed by embedding…

It is a big problem that a model of deep learning for a picking robot needs many labeled images. Operating costs of retraining a model becomes very expensive because the object shape of a product or a part often is changed in a factory. It…

Recent camera-based 3D object detection is limited by the precision of transforming from image to 3D feature spaces, as well as the accuracy of object localization within the 3D space. This paper aims to address such a fundamental problem…

Robust and efficient local feature matching plays a crucial role in applications such as SLAM and visual localization for robotics. Despite great progress, it is still very challenging to extract robust and discriminative visual features in…

This paper presents a simple yet very effective data-driven approach to fuse both low-level and high-level local geometric features for 3D rigid data matching. It is a common practice to generate distinctive geometric descriptors by fusing…

In this paper, we present an accurate yet effective solution for 6D pose estimation from an RGB image. The core of our approach is that we first designate a set of surface points on target object model as keypoints and then train a keypoint…

The incorporation of 3D data in facial analysis tasks has gained popularity in recent years. Though it provides a more accurate and detailed representation of the human face, accruing 3D face data is more complex and expensive than 2D face…

Object detection and classification is one of the most important computer vision problems. Ever since the introduction of deep learning \cite{krizhevsky2012imagenet}, we have witnessed a dramatic increase in the accuracy of this object…

Monocular 3D object detection, with the aim of predicting the geometric properties of on-road objects, is a promising research topic for the intelligent perception systems of autonomous driving. Most state-of-the-art methods follow a…

Despite the success in 6D pose estimation in bin-picking scenarios, existing methods still struggle to produce accurate prediction results for symmetry objects and real world scenarios. The primary bottlenecks include 1) the ambiguity…

We present a novel learned keypoint detection method designed to maximize the number of correct matches for the task of non-rigid image correspondence. Our training framework uses true correspondences, obtained by matching annotated image…

Accurately predicting the 3D shape of any arbitrary object in any pose from a single image is a key goal of computer vision research. This is challenging as it requires a model to learn a representation that can infer both the visible and…

Three-dimensional objects are commonly represented as 3D boxes in a point-cloud. This representation mimics the well-studied image-based 2D bounding-box detection but comes with additional challenges. Objects in a 3D world do not follow any…