EscherNet: A Generative Model for Scalable View Synthesis

1 code implementation • 6 Feb 2024 • Xin Kong, Shikun Liu, Xiaoyang Lyu, Marwan Taher, Xiaojuan Qi, Andrew J. Davison

We introduce EscherNet, a multi-view conditioned diffusion model for view synthesis.

3D Reconstruction Novel View Synthesis

vMAP: Vectorised Object Mapping for Neural Field SLAM

1 code implementation • CVPR 2023 • Xin Kong, Shikun Liu, Marwan Taher, Andrew J. Davison

We present vMAP, an object-level dense SLAM system using neural field representations.

Object

DA$^2$ Dataset: Toward Dexterity-Aware Dual-Arm Grasping

no code implementations • 31 Jul 2022 • Guangyao Zhai, Yu Zheng, Ziwei Xu, Xin Kong, Yong liu, Benjamin Busam, Yi Ren, Nassir Navab, Zhengyou Zhang

In this paper, we introduce DA$^2$, the first large-scale dual-arm dexterity-aware dataset for the generation of optimal bimanual grasping pairs for arbitrary large objects.

Semantic Segmentation-assisted Scene Completion for LiDAR Point Clouds

1 code implementation • 23 Sep 2021 • Xuemeng Yang, Hao Zou, Xin Kong, Tianxin Huang, Yong liu, Wanlong Li, Feng Wen, Hongbo Zhang

Specifically, the network takes a raw point cloud as input, and merges the features from the segmentation branch into the completion branch hierarchically to provide semantic information.

3D Semantic Scene Completion 3D Semantic Segmentation +3

SSC: Semantic Scan Context for Large-Scale Place Recognition

1 code implementation • 1 Jul 2021 • Lin Li, Xin Kong, Xiangrui Zhao, Tianxin Huang, Yong liu

We also present a two-step global semantic ICP to obtain the 3D pose (x, y, yaw) used to align the point cloud to improve matching performance.

Translation Visual Place Recognition

SA-LOAM: Semantic-aided LiDAR SLAM with Loop Closure

no code implementations • 22 Jun 2021 • Lin Li, Xin Kong, Xiangrui Zhao, Wanlong Li, Feng Wen, Hongbo Zhang, Yong liu

LiDAR-based SLAM system is admittedly more accurate and stable than others, while its loop closure detection is still an open issue.

3D Semantic Segmentation Loop Closure Detection

HR-Depth: High Resolution Self-Supervised Monocular Depth Estimation

1 code implementation • 14 Dec 2020 • Xiaoyang Lyu, Liang Liu, Mengmeng Wang, Xin Kong, Lina Liu, Yong liu, Xinxin Chen, Yi Yuan

To obtainmore accurate depth estimation in large gradient regions, itis necessary to obtain high-resolution features with spatialand semantic information.

Monocular Depth Estimation Self-Supervised Learning +2

FlowMOT: 3D Multi-Object Tracking by Scene Flow Association

no code implementations • 14 Dec 2020 • Guangyao Zhai, Xin Kong, Jinhao Cui, Yong liu, Zhen Yang

Most end-to-end Multi-Object Tracking (MOT) methods face the problems of low accuracy and poor generalization ability.

3D Multi-Object Tracking motion prediction +1

F-Siamese Tracker: A Frustum-based Double Siamese Network for 3D Single Object Tracking

no code implementations • 22 Oct 2020 • Hao Zou, Jinhao Cui, Xin Kong, Chujuan Zhang, Yong liu, Feng Wen, Wanlong Li

A main challenge in 3D single object tracking is how to reduce search space for generating appropriate 3D candidates.

3D Single Object Tracking Object +1

Semantic Graph Based Place Recognition for 3D Point Clouds

1 code implementation • 26 Aug 2020 • Xin Kong, Xuemeng Yang, Guangyao Zhai, Xiangrui Zhao, Xianfang Zeng, Mengmeng Wang, Yong liu, Wanlong Li, Feng Wen

First, we propose a novel semantic graph representation for the point cloud scenes by reserving the semantic and topological information of the raw point cloud.

Graph Matching Graph Similarity

PASS3D: Precise and Accelerated Semantic Segmentation for 3D Point Cloud

no code implementations • 4 Sep 2019 • Xin Kong, Guangyao Zhai, Baoquan Zhong, Yong liu

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud.

Autonomous Driving Data Augmentation +1