相关论文: Beyond Viewpoint: Robust 3D Object Recognition und…

Current 6D object pose estimation methods usually require a 3D model for each object. These methods also require additional training in order to incorporate new objects. As a result, they are difficult to scale to a large number of objects…

Viewpoint invariance remains challenging for visual recognition in the 3D world, as altering the viewing directions can significantly impact predictions for the same object. While substantial efforts have been dedicated to making neural…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

3D object detection is an essential perception task in autonomous driving to understand the environments. The Bird's-Eye-View (BEV) representations have significantly improved the performance of 3D detectors with camera inputs on popular…

A novel, adaptive ground-aware, and cost-effective 3D Object Detection pipeline is proposed. The ground surface representation introduced in this paper, in comparison to its uni-planar counterparts (methods that model the surface of a whole…

Point cloud based retrieval for place recognition is an emerging problem in vision field. The main challenge is how to find an efficient way to encode the local features into a discriminative global descriptor. In this paper, we propose a…

Due to large variations in shape, appearance, and viewing conditions, object recognition is a key precursory challenge in the fields of object manipulation and robotic/AI visual reasoning in general. Recognizing object categories,…

3D shape representation and its processing have substantial effects on 3D shape recognition. The polygon mesh as a 3D shape representation has many advantages in computer graphics and geometry processing. However, there are still some…

Accurately detecting objects in the environment is a key challenge for autonomous vehicles. However, obtaining annotated data for detection is expensive and time-consuming. We introduce PatchContrast, a novel self-supervised point cloud…

Learning global features by aggregating information over multiple views has been shown to be effective for 3D shape analysis. For view aggregation in deep learning models, pooling has been applied extensively. However, pooling leads to a…

In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…

3D object detection is an essential task in autonomous driving and robotics. Though great progress has been made, challenges remain in estimating 3D pose for distant and occluded objects. In this paper, we present a novel framework named…

We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…

Object detection is a critical part of visual scene understanding. The representation of the object in the detection task has important implications on the efficiency and feasibility of annotation, robustness to occlusion, pose, lighting,…

We investigate the problem of learning category-specific 3D shape reconstruction from a variable number of RGB views of previously unobserved object instances. Most approaches for multiview shape reconstruction operate on sparse shape…

Visual recognition models are not invariant to viewpoint changes in the 3D world, as different viewing directions can dramatically affect the predictions given the same object. Although many efforts have been devoted to making neural…

For 3D object detection, both camera and lidar have been demonstrated to be useful sensory devices for providing complementary information about the same scenery with data representations in different modalities, e.g., 2D RGB image vs 3D…

The ability to decompose scenes in terms of abstract building blocks is crucial for general intelligence. Where those basic building blocks share meaningful properties, interactions and other regularities across scenes, such decompositions…

Multi-modal sensor fusion in Bird's Eye View (BEV) representation has become the leading approach for 3D object detection. However, existing methods often rely on depth estimators or transformer encoders to transform image features into BEV…

Bird-eye-view (BEV) based methods have made great progress recently in multi-view 3D detection task. Comparing with BEV based methods, sparse based methods lag behind in performance, but still have lots of non-negligible merits. To push…