相关论文: UniGeo: A Unified 3D Indoor Object Detection Frame…

We propose ImGeoNet, a multi-view image-based 3D object detection framework that models a 3D space by an image-induced geometry-aware voxel representation. Unlike previous methods which aggregate 2D features into 3D voxels without…

Cloud-edge collaboration enhances machine perception by combining the strengths of edge and cloud computing. Edge devices capture raw data (e.g., 3D point clouds) and extract salient features, which are sent to the cloud for deeper analysis…

Recognition of occluded objects in unseen indoor environments is a challenging problem for mobile robots. This work proposes a new slicing-based topological descriptor that captures the 3D shape of object point clouds to address this…

Graph matching aims to establish correspondences between vertices of graphs such that both the node and edge attributes agree. Various learning-based methods were recently proposed for finding correspondences between image key points based…

We address the problems of measuring geometric similarity between 3D scenes, represented through point clouds or range data frames, and associating them. Our approach leverages macro-scale 3D structural geometry - the relative configuration…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

In 2D image processing, some attempts decompose images into high and low frequency components for describing edge and smooth parts respectively. Similarly, the contour and flat area of 3D objects, such as the boundary and seat area of a…

Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion.…

Object detection has long been a topic of high interest in computer vision literature. Motivated by the fact that annotating data for the multi-object tracking (MOT) problem is immensely expensive, recent studies have turned their attention…

3D object detection has seen quick progress thanks to advances in deep learning on point clouds. A few recent works have even shown state-of-the-art performance with just point clouds input (e.g. VoteNet). However, point cloud data have…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

We present 3DiffTection, a state-of-the-art method for 3D object detection from single images, leveraging features from a 3D-aware diffusion model. Annotating large-scale image data for 3D detection is resource-intensive and time-consuming.…

Visual Tracking is a complex problem due to unconstrained appearance variations and dynamic environment. Extraction of complementary information from the object environment via multiple features and adaption to the target's appearance…

3D object detection is an indispensable component for scene understanding. However, the annotation of large-scale 3D datasets requires significant human effort. To tackle this problem, many methods adopt weakly supervised 3D object…

Variable scene layouts and coexisting objects across scenes make indoor scene recognition still a challenging task. Leveraging object information within scenes to enhance the distinguishability of feature representations has emerged as a…

We present UniScale, a unified, scale-aware multi-view 3D reconstruction framework for robotic applications that flexibly integrates geometric priors through a modular, semantically informed design. In vision-based robotic navigation, the…

Multi-UAV collaborative 3D object detection can perceive and comprehend complex environments by integrating complementary information, with applications encompassing traffic monitoring, delivery services and agricultural management.…

The detection head constitutes a pivotal component within object detectors, tasked with executing both classification and localization functions. Regrettably, the commonly used parallel head often lacks omni perceptual capabilities, such as…

Self-attention modules have demonstrated remarkable capabilities in capturing long-range relationships and improving the performance of point cloud tasks. However, point cloud objects are typically characterized by complex, disordered, and…

As a fundamental problem in computer vision, 3D object detection is experiencing rapid growth. To extract the point-wise features from the irregularly and sparsely distributed points, previous methods usually take a feature grouping module…