相关论文: 3D Branch Point Cloud Completion for Robotic Pruni…

Accurate tree detection is of growing importance in applications such as urban planning, forest inventory, and environmental monitoring. In this article, we present an approach to creating tree maps by annotating them in 3D point clouds.…

Point clouds-based Networks have achieved great attention in 3D object classification, segmentation and indoor scene semantic parsing. In terms of face recognition, 3D face recognition method which directly consume point clouds as input is…

Inferring missing regions from severely occluded point clouds is highly challenging. Especially for 3D shapes with rich geometry and structure details, inherent ambiguities of the unknown parts are existing. Existing approaches either learn…

Explainability is an important factor to drive user trust in the use of neural networks for tasks with material impact. However, most of the work done in this area focuses on image analysis and does not take into account 3D data. We extend…

With the increased availability of 3D scanning technology, point clouds are moving into the focus of computer vision as a rich representation of everyday scenes. However, they are hard to handle for machine learning algorithms due to their…

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…

Recent developments in the field of deep learning for 3D data have demonstrated promising potential for end-to-end learning directly from point clouds. However, many real-world point clouds contain a large class im-balance due to the…

Robust imitation learning for robot manipulation requires comprehensive 3D perception, yet many existing methods struggle in cluttered environments. Fixed camera view approaches are vulnerable to perspective changes, and 3D point cloud…

Point cloud processing as a fundamental task in the field of geomatics and computer vision, has been supporting tasks and applications at different scales from air to ground, including mapping, environmental monitoring, urban/tree structure…

How to develop slim and accurate deep neural networks has become crucial for real- world applications, especially for those employed in embedded systems. Though previous work along this research line has shown some promising results, most…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Accurate per-branch 3D reconstruction is a prerequisite for autonomous UAV-based tree pruning; however, dense disparity maps from modern stereo matchers often remain too noisy for individual branch analysis in complex forest canopies. This…

Fruit tree pruning and fruit thinning require a powerful vision system that can provide high resolution segmentation of the fruit trees and their branches. However, recent works only consider the dormant season, where there are minimal…

Top-down induction of decision trees has been observed to suffer from the inadequate functioning of the pruning phase. In particular, it is known that the size of the resulting tree grows linearly with the sample size, even though the…

In this work, to facilitate the real-time processing of multi-scan registration error minimization on factor graphs, we devise a point cloud downsampling algorithm based on coreset extraction. This algorithm extracts a subset of the…

Shape completion, the problem of estimating the complete geometry of objects from partial observations, lies at the core of many vision and robotics applications. In this work, we propose Point Completion Network (PCN), a novel…

Point clouds are often sparse and incomplete. Existing shape completion methods are incapable of generating details of objects or learning the complex point distributions. To this end, we propose a cascaded refinement network together with…

Neural networks performance has been significantly improved in the last few years, at the cost of an increasing number of floating point operations per second (FLOPs). However, more FLOPs can be an issue when computational resources are…

Dents on the aircraft skin are frequent and may easily go undetected during airworthiness checks, as their inspection process is tedious and extremely subject to human factors and environmental conditions. Nowadays, 3D scanning technologies…

Point clouds acquired in constrained, challenging, uncontrolled, and multi-sensor real-world settings are noisy, incomplete, and non-uniformly sparse. This presents acute challenges for the vital task of point cloud completion. Using tools…