相关论文: AutoURDF: Unsupervised Robot Modeling from Point C…

Machine learning models are often criticized for their black-box nature, raising concerns about their applicability in critical decision-making scenarios. Consequently, there is a growing demand for interpretable models in such contexts. In…

Ground segmentation is an important preprocessing task for autonomous vehicles (AVs) with 3D LiDARs. To solve the problem of existing ground segmentation methods being very difficult to balance accuracy and computational complexity, a fast…

This paper explores a rapid, optimal smooth path-planning algorithm for robots (e.g., autonomous vehicles) in point cloud environments. Derivative maps such as dense point clouds, mesh maps, Octomaps, etc. are frequently used for path…

We study the problem of inferring an object-centric scene representation from a single image, aiming to derive a representation that explains the image formation process, captures the scene's 3D nature, and is learned without supervision.…

We propose a new framework that formulates point cloud registration as a denoising diffusion process from noisy transformation to object transformation. During training stage, object transformation diffuses from ground-truth transformation…

Digital human animation relies on high-quality 3D models of the human face -- rigs. A face rig must be accurate and, at the same time, fast to compute. One of the most common rigging models is the blendshape model. We present a novel…

The paper posits a computationally-efficient algorithm for multi-class facial image classification in which images are constrained with translation, rotation, scale, color, illumination and affine distortion. The proposed method is divided…

Point clouds are collected nowadays from a plethora of sensors, some having higher accuracies and higher costs, some having lower accuracies but also lower costs. Not only there is a large choice for different sensors, but also these can be…

With the development of numerous 3D sensing technologies, object registration on cross-source point cloud has aroused researchers' interests. When the point clouds are captured from different kinds of sensors, there are large and different…

This paper presents a methodology to learn surrogate models of steady state fluid dynamics simulations on meshed domains, based on Implicit Neural Representations (INRs). The proposed models can be applied directly to unstructured domains…

Registering human meshes to 3D point clouds is essential for applications such as augmented reality and human-robot interaction but often yields imprecise results due to noise and background clutter in real-world data. We introduce a hybrid…

Deformable object manipulation (DOM) with point clouds has great potential as non-rigid 3D shapes can be measured without detecting and tracking image features. However, robotic shape control of deformable objects with point clouds is…

There are various automotive applications that rely on correctly interpreting point cloud data recorded with radar sensors. We present a deep learning approach for histogram-based processing of such point clouds. Compared to existing…

We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…

Non-rigid point cloud registration is a crucial task in computer vision. Evaluating a non-rigid point cloud registration method requires a dataset with challenges such as large deformation levels, noise, outliers, and incompleteness.…

Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environment representation, resulting in a conservative trajectory, or…

Multi-robot visual simultaneous localization and mapping (SLAM) system is normally consisted of multiple mobile robots equipped with camera and/or other visual sensors. The networked robots work independently or cooperatively in an unknown…

Generative models have significantly improved the generation and prediction quality on either camera images or LiDAR point clouds for autonomous driving. However, a real-world autonomous driving system uses multiple kinds of input modality,…

Point Cloud Registration is the problem of aligning the corresponding points of two 3D point clouds referring to the same object. The challenges include dealing with noise and partial match of real-world 3D scans. For non-rigid objects,…

Co-design optimization strategies usually rely on simplified robot models extracted from CAD. While these models are useful for optimizing geometrical and inertial parameters for robot control, they might overlook important details…