Search Results for author: Chenyang Zhu

Found 21 papers, 10 papers with code

Learning Dual-arm Object Rearrangement for Cartesian Robots

no code implementations21 Feb 2024 Shishun Zhang, Qijin She, Wenhao Li, Chenyang Zhu, Yongjun Wang, Ruizhen Hu, Kai Xu

To achieve the goal, the core idea is to develop an effective object-to-arm task assignment strategy for minimizing the cumulative task execution time and maximizing the dual-arm cooperation efficiency.

Computational Efficiency Object +1

SuperUDF: Self-supervised UDF Estimation for Surface Reconstruction

1 code implementation28 Aug 2023 Hui Tian, Chenyang Zhu, Yifei Shi, Kai Xu

The key insight is that if the UDF is estimated correctly, the 3D points should be locally projected onto the underlying surface following the gradient of the UDF.

Surface Reconstruction

2D3D-MATR: 2D-3D Matching Transformer for Detection-free Registration between Images and Point Clouds

1 code implementation ICCV 2023 Minhao Li, Zheng Qin, Zhirui Gao, Renjiao Yi, Chenyang Zhu, Yulan Guo, Kai Xu

The commonly adopted detect-then-match approach to registration finds difficulties in the cross-modality cases due to the incompatible keypoint detection and inconsistent feature description.

Keypoint Detection Patch Matching

Tensorformer: Normalized Matrix Attention Transformer for High-quality Point Cloud Reconstruction

1 code implementation28 Jun 2023 Hui Tian, Zheng Qin, Renjiao Yi, Chenyang Zhu, Kai Xu

Surface reconstruction from raw point clouds has been studied for decades in the computer graphics community, which is highly demanded by modeling and rendering applications nowadays.

Point cloud reconstruction Surface Reconstruction

Weakly-supervised Single-view Image Relighting

no code implementations CVPR 2023 Renjiao Yi, Chenyang Zhu, Kai Xu

For re-rendering, we propose a differentiable specular rendering layer to render low-frequency non-Lambertian materials under various illuminations of spherical harmonics.

Image Relighting Inverse Rendering

Learning Accurate Template Matching with Differentiable Coarse-to-Fine Correspondence Refinement

1 code implementation15 Mar 2023 Zhirui Gao, Renjiao Yi, Zheng Qin, Yunfan Ye, Chenyang Zhu, Kai Xu

To tackle the challenges, we propose an accurate template matching method based on differentiable coarse-to-fine correspondence refinement.

Robotic Grasping Template Matching

Multi-resolution Monocular Depth Map Fusion by Self-supervised Gradient-based Composition

1 code implementation3 Dec 2022 Yaqiao Dai, Renjiao Yi, Chenyang Zhu, Hongjun He, Kai Xu

Therefore, we propose a novel depth map fusion module to combine the advantages of estimations with multi-resolution inputs.

Monocular Depth Estimation

6DOF Pose Estimation of a 3D Rigid Object based on Edge-enhanced Point Pair Features

no code implementations17 Sep 2022 Chenyi Liu, Fei Chen, Lu Deng, Renjiao Yi, Lintao Zheng, Chenyang Zhu, Jia Wang, Kai Xu

We introduce a well-targeted down-sampling strategy that focuses more on edge area for efficient feature extraction of complex geometry.

6D Pose Estimation

DisARM: Displacement Aware Relation Module for 3D Detection

no code implementations CVPR 2022 Yao Duan, Chenyang Zhu, Yuqing Lan, Renjiao Yi, Xinwang Liu, Kai Xu

However, adopting relations between all the object or patch proposals for detection is inefficient, and an imbalanced combination of local and global relations brings extra noise that could mislead the training.

3D Object Detection object-detection +1

ARM3D: Attention-based relation module for indoor 3D object detection

1 code implementation20 Feb 2022 Yuqing Lan, Yao Duan, Chenyi Liu, Chenyang Zhu, Yueshan Xiong, Hui Huang, Kai Xu

In the field of 3D object detection, previous methods have been taking the advantage of context encoding, graph embedding, or explicit relation reasoning to extract relation context.

3D Object Detection Graph Embedding +3

Learning Practically Feasible Policies for Online 3D Bin Packing

2 code implementations31 Aug 2021 Hang Zhao, Chenyang Zhu, Xin Xu, Hui Huang, Kai Xu

In this problem, the items are delivered to the agent without informing the full sequence information.

3D Bin Packing Collision Avoidance

ROSEFusion: Random Optimization for Online Dense Reconstruction under Fast Camera Motion

no code implementations12 May 2021 Jiazhao Zhang, Chenyang Zhu, Lintao Zheng, Kai Xu

We propose to tackle the difficulties of fast-motion camera tracking in the absence of inertial measurements using random optimization, in particular, the Particle Filter Optimization (PFO).

Pose Tracking

Fusion-Aware Point Convolution for Online Semantic 3D Scene Segmentation

1 code implementation CVPR 2020 Jiazhao Zhang, Chenyang Zhu, Lintao Zheng, Kai Xu

Online semantic 3D segmentation in company with real-time RGB-D reconstruction poses special challenges such as how to perform 3D convolution directly over the progressively fused 3D geometric data, and how to smartly fuse information from frame to frame.

RGB-D Reconstruction Scene Segmentation

Active Scene Understanding via Online Semantic Reconstruction

no code implementations18 Jun 2019 Lintao Zheng, Chenyang Zhu, Jiazhao Zhang, Hang Zhao, Hui Huang, Matthias Niessner, Kai Xu

In our method, the exploratory robot scanning is both driven by and targeting at the recognition and segmentation of semantic objects from the scene.

Scene Understanding Semantic Segmentation

AdaCoSeg: Adaptive Shape Co-Segmentation with Group Consistency Loss

no code implementations CVPR 2020 Chenyang Zhu, Kai Xu, Siddhartha Chaudhuri, Li Yi, Leonidas Guibas, Hao Zhang

While the part prior network can be trained with noisy and inconsistently segmented shapes, the final output of AdaCoSeg is a consistent part labeling for the input set, with each shape segmented into up to (a user-specified) K parts.

Instance Segmentation Segmentation +1

PartNet: A Recursive Part Decomposition Network for Fine-grained and Hierarchical Shape Segmentation

no code implementations CVPR 2019 Fenggen Yu, Kun Liu, Yan Zhang, Chenyang Zhu, Kai Xu

Meanwhile, to increase the segmentation accuracy at each node, we enhance the recursive contextual feature with the shape feature extracted for the corresponding part.

Ranked #14 on 3D Part Segmentation on ShapeNet-Part (Class Average IoU metric)

3D Instance Segmentation 3D Part Segmentation +1

SCORES: Shape Composition with Recursive Substructure Priors

no code implementations14 Sep 2018 Chenyang Zhu, Kai Xu, Siddhartha Chaudhuri, Renjiao Yi, Hao Zhang

The network may significantly alter the geometry and structure of the input parts and synthesize a novel shape structure based on the inputs, while adding or removing parts to minimize a structure plausibility loss.

Faces as Lighting Probes via Unsupervised Deep Highlight Extraction

no code implementations ECCV 2018 Renjiao Yi, Chenyang Zhu, Ping Tan, Stephen Lin

We present a method for estimating detailed scene illumination using human faces in a single image.

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