相关论文: Surface Normal Estimation with Transformers

Surface material recognition is a key component in robotic perception and physical interaction, particularly when leveraging both tactile and visual sensory inputs. In this work, we propose Surformer v1, a transformer-based architecture…

Image denoising is an important low-level computer vision task, which aims to reconstruct a noise-free and high-quality image from a noisy image. With the development of deep learning, convolutional neural network (CNN) has been gradually…

Representing shapes as level sets of neural networks has been recently proved to be useful for different shape analysis and reconstruction tasks. So far, such representations were computed using either: (i) pre-computed implicit shape…

Transformer layers, which use an alternating pattern of multi-head attention and multi-layer perceptron (MLP) layers, provide an effective tool for a variety of machine learning problems. As the transformer layers use residual connections…

Point cloud is an important type of 3D representation. However, directly applying convolutions on point clouds is challenging due to the sparse, irregular and unordered data structure. In this paper, we propose a novel Interpolated…

Following the tremendous success of transformer in natural language processing and image understanding tasks, in this paper, we present a novel point cloud representation learning architecture, named Dual Transformer Network (DTNet), which…

In point cloud generation and completion, previous methods for transforming latent features to point clouds are generally based on fully connected layers (FC-based) or folding operations (Folding-based). However, point clouds generated by…

Depth completion aims to predict dense depth maps with sparse depth measurements from a depth sensor. Currently, Convolutional Neural Network (CNN) based models are the most popular methods applied to depth completion tasks. However,…

Generating continuous surfaces from discrete point cloud data is a fundamental task in several 3D vision applications. Real-world point clouds are inherently noisy due to various technical and environmental factors. Existing data-driven…

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…

Convolution neural networks (CNNs) have succeeded in compressive image sensing. However, due to the inductive bias of locality and weight sharing, the convolution operations demonstrate the intrinsic limitations in modeling the long-range…

Change detection plays a fundamental role in Earth observation for analyzing temporal iterations over time. However, recent studies have largely neglected the utilization of multimodal data that presents significant practical and technical…

Soft-tissue surgeries, such as tumor resections, are complicated by tissue deformations that can obscure the accurate location and shape of tissues. By representing tissue surfaces as point clouds and applying non-rigid point cloud…

The intricacy of 3D surfaces often results cutting-edge point cloud denoising (PCD) models in surface degradation including remnant noise, wrongly-removed geometric details. Although using multi-scale patches to encode the geometry of a…

Convolutional neural networks (CNNs) have been widely utilized in many computer vision tasks. However, CNNs have a fixed reception field and lack the ability of long-range perception, which is crucial to human pose estimation. Due to its…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

While surface normals are widely used to analyse 3D scene geometry, surface normal estimation from LiDAR point clouds remains severely underexplored. This is caused by the lack of large-scale annotated datasets on the one hand, and lack of…

This paper presents a data-efficient approach to learning transferable forward models for robotic push manipulation. Our approach extends our previous work on contact-based predictors by leveraging information on the pushed object's local…

Recent state-of-the-art performances of Vision Transformers (ViT) in computer vision tasks demonstrate that a general-purpose architecture, which implements long-range self-attention, could replace the local feature learning operations of…

Point clouds are characterized by irregularity and unstructuredness, which pose challenges in efficient data exploitation and discriminative feature extraction. In this paper, we present an unsupervised deep neural architecture called…