arXiv subjects

Mikaela Angelina Uy

Publications and source records attributed to Mikaela Angelina Uy.

22 records · Page 2Linked to original sources

arXiv2020

Deformation-Aware 3D Model Embedding and Retrieval

We introduce a new problem of retrieving 3D models that are deformable to a given query shape and present a novel deep deformation-aware embedding to solve this retrieval task. 3D model retrieval is a fundamental operation for recovering a clean and complete 3D model from a noisy and partial 3D scan. However, given a finite collection of 3D shapes, even the closest model to a query may not be satisfactory. This motivates us to apply 3D model deformation techniques to adapt the retrieved model so as to better fit the query. Yet, certain restrictions are enforced in most 3D deformation techniques to preserve important features of the original model that prevent a perfect fitting of the deformed model to the query. This gap between the deformed model and the query induces asymmetric relationships among the models, which cannot be handled by typical metric learning techniques. Thus, to retrieve the best models for fitting, we propose a novel deep embedding approach that learns the asymmetric relationships by leveraging location-dependent egocentric distance fields. We also propose two strategies for training the embedding network. We demonstrate that both of these approaches outperform other baselines in our experiments with both synthetic and real data. Our project page can be found at https://deformscan2cad.github.io/.

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arXiv2019

LCD: Learned Cross-Domain Descriptors for 2D-3D Matching

In this work, we present a novel method to learn a local cross-domain descriptor for 2D image and 3D point cloud matching. Our proposed method is a dual auto-encoder neural network that maps 2D and 3D input into a shared latent space representation. We show that such local cross-domain descriptors in the shared embedding are more discriminative than those obtained from individual training in 2D and 3D domains. To facilitate the training process, we built a new dataset by collecting $\approx 1.4$ millions of 2D-3D correspondences with various lighting conditions and settings from publicly available RGB-D scenes. Our descriptor is evaluated in three main experiments: 2D-3D matching, cross-domain retrieval, and sparse-to-dense depth estimation. Experimental results confirm the robustness of our approach as well as its competitive performance not only in solving cross-domain tasks but also in being able to generalize to solve sole 2D and 3D tasks. Our dataset and code are released publicly at \url{https://hkust-vgd.github.io/lcd}.

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arXiv2019

Revisiting Point Cloud Classification: A New Benchmark Dataset and Classification Model on Real-World Data

Deep learning techniques for point cloud data have demonstrated great potentials in solving classical problems in 3D computer vision such as 3D object classification and segmentation. Several recent 3D object classification methods have reported state-of-the-art performance on CAD model datasets such as ModelNet40 with high accuracy (~92%). Despite such impressive results, in this paper, we argue that object classification is still a challenging task when objects are framed with real-world settings. To prove this, we introduce ScanObjectNN, a new real-world point cloud object dataset based on scanned indoor scene data. From our comprehensive benchmark, we show that our dataset poses great challenges to existing point cloud classification techniques as objects from real-world scans are often cluttered with background and/or are partial due to occlusions. We identify three key open problems for point cloud object classification, and propose new point cloud classification neural networks that achieve state-of-the-art performance on classifying objects with cluttered background. Our dataset and code are publicly available in our project page https://hkust-vgd.github.io/scanobjectnn/.

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arXiv2018

PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition

Unlike its image based counterpart, point cloud based retrieval for place recognition has remained as an unexplored and unsolved problem. This is largely due to the difficulty in extracting local feature descriptors from a point cloud that can subsequently be encoded into a global descriptor for the retrieval task. In this paper, we propose the PointNetVLAD where we leverage on the recent success of deep networks to solve point cloud based retrieval for place recognition. Specifically, our PointNetVLAD is a combination/modification of the existing PointNet and NetVLAD, which allows end-to-end training and inference to extract the global descriptor from a given 3D point cloud. Furthermore, we propose the "lazy triplet and quadruplet" loss functions that can achieve more discriminative and generalizable global descriptors to tackle the retrieval task. We create benchmark datasets for point cloud based retrieval for place recognition, and the experimental results on these datasets show the feasibility of our PointNetVLAD. Our code and the link for the benchmark dataset downloads are available in our project website. http://github.com/mikacuy/pointnetvlad/

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