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

The advancement of UAV technology has enabled efficient, non-contact structural health monitoring. Combined with photogrammetry, UAVs can capture high-resolution scans and reconstruct detailed 3D models of infrastructure. However, a key…

Autonomous driving can benefit from motion behavior comprehension when interacting with diverse traffic participants in highly dynamic environments. Recently, there has been a growing interest in estimating class-agnostic motion directly…

Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…

Point cloud completion aims to recover the complete 3D shape of an object from partial observations. While approaches relying on synthetic shape priors achieved promising results in this domain, their applicability and generalizability to…

High-resolution road representations are a key factor for the success of (highly) automated driving functions. These representations, for example, high-definition (HD) maps, contain accurate information on a multitude of factors, among…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…

This paper presents a novel randomized algorithm for robust point cloud registration without correspondences. Most existing registration approaches require a set of putative correspondences obtained by extracting invariant descriptors.…

Some deep learning-based point cloud registration methods struggle with zero-shot generalization, often requiring dataset-specific hyperparameter tuning or retraining for new environments. We identify three critical limitations: (a) fixed…

Generating realistic and diverse LiDAR point clouds is crucial for autonomous driving simulation. Although previous methods achieve LiDAR point cloud generation from user inputs, they struggle to attain high-quality results while enabling…

We present a fast learning-based algorithm for deformable, pairwise 3D medical image registration. Current registration methods optimize an objective function independently for each pair of images, which can be time-consuming for large…

In a scenario where multi-modal cameras are operating together, the problem of working with non-aligned images cannot be avoided. Yet, existing image fusion algorithms rely heavily on strictly registered input image pairs to produce more…

We investigate the generalization capabilities of neural signed distance functions (SDFs) for learning 3D object representations for unseen and unlabeled point clouds. Existing methods can fit SDFs to a handful of object classes and boast…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

Crops for food, feed, fiber, and fuel are key natural resources for our society. Monitoring plants and measuring their traits is an important task in agriculture often referred to as plant phenotyping. Traditionally, this task is done…

Point cloud registration is a fundamental problem in 3D computer vision. In this paper, we cast point cloud registration into a planning problem in reinforcement learning, which can seek the transformation between the source and target…

State-of-the-art 3D point cloud registration methods rely on labeled 3D datasets for training, which limits their practical applications in real-world scenarios and often hinders generalization to unseen scenes. Leveraging the zero-shot…

The robot development process is divided into several stages, which create barriers to the exchange of information between these different stages. We advocate for an interactive lifecycle representation, extending from robot morphology…

We present a novel method, called NeuralUDF, for reconstructing surfaces with arbitrary topologies from 2D images via volume rendering. Recent advances in neural rendering based reconstruction have achieved compelling results. However,…

Modern sensing technologies have enabled the collection of unstructured point cloud data (PCD) of varying sizes, which are used to monitor the geometric accuracy of 3D objects. PCD are widely applied in advanced manufacturing processes,…

A modification of the Random Forest algorithm for the categorization of traffic situations is introduced in this paper. The procedure yields an unsupervised machine learning method. The algorithm generates a proximity matrix which contains…