相关论文: RefComp: A Reference-guided Unified Framework for …

Point cloud completion aims to recover missing geometric structures from incomplete 3D scans, which often suffer from occlusions or limited sensor viewpoints. Existing methods typically assume fixed input/output densities or rely on…

We tackle the problem of object completion from point clouds and propose a novel point cloud completion network employing an Asymmetrical Siamese Feature Matching strategy, termed as ASFM-Net. Specifically, the Siamese auto-encoder neural…

Deep learning approaches to 3D shape segmentation are typically formulated as a multi-class labeling problem. Existing models are trained for a fixed set of labels, which greatly limits their flexibility and adaptivity. We opt for top-down…

To prevent the mischievous use of synthetic (fake) point clouds produced by generative models, we pioneer the study of detecting point cloud authenticity and attributing them to their sources. We propose an attribution framework, FAKEPCD,…

The latest trends in the research field of single-view human reconstruction devote to learning deep implicit functions constrained by explicit body shape priors. Despite the remarkable performance improvements compared with traditional…

In robotic fruit picking applications, managing object occlusion in unstructured settings poses a substantial challenge for designing grasping algorithms. Using strawberry harvesting as a case study, we present an end-to-end framework for…

Object reconstruction from 3D point clouds has been a long-standing research problem in computer vision and computer graphics, and achieved impressive progress. However, reconstruction from time-varying point clouds (a.k.a. 4D point clouds)…

We propose a self-supervised method for partial point set registration. While recent proposed learning-based methods have achieved impressive registration performance on the full shape observations, these methods mostly suffer from…

3D shapes captured by scanning devices are often incomplete due to occlusion. 3D shape completion methods have been explored to tackle this limitation. However, most of these methods are only trained and tested on a subset of categories,…

The 6-Degree of Freedom (DoF) grasp method based on point clouds has shown significant potential in enabling robots to grasp target objects. However, most existing methods are based on the point clouds (2.5D points) generated from…

3D point cloud completion is very challenging because it heavily relies on the accurate understanding of the complex 3D shapes (e.g., high-curvature, concave/convex, and hollowed-out 3D shapes) and the unknown & diverse patterns of the…

Objective geometry quality assessment of point clouds is essential to evaluate the performance of a wide range of point cloud-based solutions, such as denoising, simplification, reconstruction, and watermarking. Existing point cloud quality…

We address the problem of learning accurate 3D shape and camera pose from a collection of unlabeled category-specific images. We train a convolutional network to predict both the shape and the pose from a single image by minimizing the…

Recently,vision-based robotic manipulation has garnered significant attention and witnessed substantial advancements. 2D image-based and 3D point cloud-based policy learning represent two predominant paradigms in the field, with recent…

Learning to generate 3D point clouds without 3D supervision is an important but challenging problem. Current solutions leverage various differentiable renderers to project the generated 3D point clouds onto a 2D image plane, and train deep…

Although recent point cloud analysis achieves impressive progress, the paradigm of representation learning from a single modality gradually meets its bottleneck. In this work, we take a step towards more discriminative 3D point cloud…

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…

Interactive segmentation aims to segment the specified target on the image with positive and negative clicks from users. Interactive ambiguity is a crucial issue in this field, which refers to the possibility of multiple compliant outcomes…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

Though a number of point cloud learning methods have been proposed to handle unordered points, most of them are supervised and require labels for training. By contrast, unsupervised learning of point cloud data has received much less…