相关论文: HumanReg: Self-supervised Non-rigid Registration o…

We propose a novel generative approach for 3D human pose estimation. 3D human pose estimation poses several key challenges due to the complex geometry of the human body, self-occluding joints, and the requirement for large-scale real-world…

We propose FlowReg, a deep learning-based framework for unsupervised image registration for neuroimaging applications. The system is composed of two architectures that are trained sequentially: FlowReg-A which affinely corrects for gross…

Point cloud compression has garnered significant interest in computer vision. However, existing algorithms primarily cater to human vision, while most point cloud data is utilized for machine vision tasks. To address this, we propose a…

Point Cloud Registration (PCR) estimates the relative rigid transformation between two point clouds of the same scene. Despite significant progress with learning-based approaches, existing methods still face challenges when the overlapping…

The existing state-of-the-art point descriptor relies on structure information only, which omit the texture information. However, texture information is crucial for our humans to distinguish a scene part. Moreover, the current…

Recognizing human actions from point cloud videos has attracted tremendous attention from both academia and industry due to its wide applications like automatic driving, robotics, and so on. However, current methods for point cloud action…

Sensor degradation poses a significant challenge in autonomous driving. During heavy rainfall, the interference from raindrops can adversely affect the quality of LiDAR point clouds, resulting in, for instance, inaccurate point…

Point cloud registration aligns 3D point clouds using spatial transformations. It is an important task in computer vision, with applications in areas such as augmented reality (AR) and medical imaging. This work explores the intersection of…

We introduce HUMAN4D, a large and multimodal 4D dataset that contains a variety of human activities simultaneously captured by a professional marker-based MoCap, a volumetric capture and an audio recording system. By capturing 2 female and…

It is a long-term vision for Autonomous Driving (AD) community that the perception models can learn from a large-scale point cloud dataset, to obtain unified representations that can achieve promising results on different tasks or…

We propose Point-PNG, a novel self-supervised learning framework that generates conditional pseudo-negatives in the latent space to learn point cloud representations that are both discriminative and transformation-sensitive. Conventional…

Localization and navigation are basic robotic tasks requiring an accurate and up-to-date map to finish these tasks, with crowdsourced data to detect map changes posing an appealing solution. Collecting and processing crowdsourced data…

Generating 3D point clouds is challenging yet highly desired. This work presents a novel autoregressive model, PointGrow, which can generate diverse and realistic point cloud samples from scratch or conditioned on semantic contexts. This…

We provide a dynamical perspective on the classical problem of 3D point cloud registration with correspondences. A point cloud is considered as a rigid body consisting of particles. The problem of registering two point clouds is formulated…

Creating a 360{\deg} parametric model of a human head is a very challenging task. While recent advancements have demonstrated the efficacy of leveraging synthetic data for building such parametric head models, their performance remains…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

In this article, we investigate self-supervised 3D scene flow estimation and class-agnostic motion prediction on point clouds. A realistic scene can be well modeled as a collection of rigidly moving parts, therefore its scene flow can be…

Grasping has been a crucial but challenging problem in robotics for many years. One of the most important challenges is how to make grasping generalizable and robust to novel objects as well as grippers in unstructured environments. We…

Traditional algorithms of point set registration minimizing point-to-plane distances often achieve a better estimation of rigid transformation than those minimizing point-to-point distances. Nevertheless, recent deep-learning-based methods…

We present an implementation of a new approach to diffeomorphic non-rigid registration of medical images. The method is based on optical flow and warps images via gradient flow with the standard $L^2$ inner product. To compute the…