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

We propose a software rasterization pipeline for point clouds that is capable of brute-force rendering up to two billion points in real time (60fps). Improvements over the state of the art are achieved by batching points in a way that a…

Generating accurate digital tree models from scanned environments is invaluable for forestry, agriculture, and other outdoor industries in tasks such as identifying biomass, fall hazards and traversability, as well as digital applications…

3D point clouds directly collected from objects through sensors are often incomplete due to self-occlusion. Conventional methods for completing these partial point clouds rely on manually organized training sets and are usually limited to…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

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…

Accurate point cloud segmentation for plant organs is crucial for 3D plant phenotyping. Existing solutions are designed problem-specific with a focus on certain plant species or specified sensor-modalities for data acquisition. Furthermore,…

In this paper, we study the problem of task-oriented grasp synthesis from partial point cloud data using an eye-in-hand camera configuration. In task-oriented grasp synthesis, a grasp has to be selected so that the object is not lost during…

Part-level point cloud segmentation has recently attracted significant attention in 3D computer vision. Nevertheless, existing research is constrained by two major challenges: native 3D models lack generalization due to data scarcity, while…

With the rise of smartphones and the internet-of-things, data is increasingly getting generated at the edge on local, personal devices. For privacy, latency and energy saving reasons, this shift is causing machine learning algorithms to…

Pruning is the art of cutting unwanted and unhealthy plant branches and is one of the difficult tasks in the field robotics. It becomes even more complex when the plant branches are moving. Moreover, the reproducibility of robot pruning…

With the tide of artificial intelligence, we try to apply deep learning to understand 3D data. Point cloud is an important 3D data structure, which can accurately and directly reflect the real world. In this paper, we propose a simple and…

Segmentation of plant point clouds to obtain high-precise morphological traits is essential for plant phenotyping. Although the fast development of deep learning has boosted much research on segmentation of plant point clouds, previous…

While deep learning-based methods have demonstrated outstanding results in numerous domains, some important functionalities are missing. Resolution scalability is one of them. In this work, we introduce a novel architecture, dubbed…

LiDAR sensors are an integral part of modern autonomous vehicles as they provide an accurate, high-resolution 3D representation of the vehicle's surroundings. However, it is computationally difficult to make use of the ever-increasing…

3D perception in point clouds is transforming the perception ability of future intelligent machines. Point cloud algorithms, however, are plagued by irregular memory accesses, leading to massive inefficiencies in the memory sub-system,…

Point clouds analysis has grasped researchers' eyes in recent years, while 3D semantic segmentation remains a problem. Most deep point clouds models directly conduct learning on 3D point clouds, which will suffer from the severe sparsity…

The global demand for medicinal plants, such as Damask roses, has surged with population growth, yet labor-intensive harvesting remains a bottleneck for scalability. To address this, we propose a novel 3D perception pipeline tailored for…

Nowadays, there are many approaches to acquire three-dimensional (3D) point clouds of maize plants. However, automatic stem-leaf segmentation of maize shoots from three-dimensional (3D) point clouds remains challenging, especially for new…

Three-dimensional (3D) point cloud analysis has become one of the attractive subjects in realistic imaging and machine visions due to its simplicity, flexibility and powerful capacity of visualization. Actually, the representation of scenes…

Point cloud completion aims to infer the complete geometries for missing regions of 3D objects from incomplete ones. Previous methods usually predict the complete point cloud based on the global shape representation extracted from the…