Point cloud is a widely used 3D data form, which can be produced by depth sensors, such as Light Detection and Ranging (LIDAR) and RGB-D cameras. Being unordered and irregular, many researchers focused on the feature engineering of the point cloud. Being able to learn complex hierarchical structures, deep learning has achieved great success with images from cameras. Recently, many researchers have adapted it into the applications of the point cloud. In this paper, the recent existing point cloud feature learning methods are classified as point-based and tree-based. The former directly takes the raw point cloud as the input for deep learning. The latter first employs a k-dimensional tree (Kd-tree) structure to represent the point cloud with a regular representation and then feeds these representations into deep learning models. Their advantages and disadvantages are analyzed. The applications related to point cloud feature learning, including 3D object classification, semantic segmentation, and 3D object detection, are introduced, and the datasets and evaluation metrics are also collected. Finally, the future research trend is predicted.

Drought stress seriously affects crop growth, development, and grain production. Existing machine learning methods have achieved great progress in drought stress detection and diagnosis. However, such methods are based on a hand-crafted feature extraction process, and the accuracy has much room to improve. In this paper, we propose the use of a deep convolutional neural network (DCNN) to identify and classify maize drought stress. Field drought stress experiments were conducted in 2014. The experiment was divided into three treatments: optimum moisture, light drought, and moderate drought stress. Maize images were obtained every two hours throughout the whole day by digital cameras. In order to compare the accuracy of DCNN, a comparative experiment was conducted using traditional machine learning on the same dataset. The experimental results demonstrated an impressive performance of the proposed method. For the total dataset, the accuracy of the identification and classification of drought stress was 98.14% and 95.95%, respectively. High accuracy was also achieved on the sub-datasets of the seedling and jointing stages. The identification and classification accuracy levels of the color images were higher than those of the gray images. Furthermore, the comparison experiments on the same dataset demonstrated that DCNN achieved a better performance than the traditional machine learning method (Gradient Boosting Decision Tree GBDT). Overall, our proposed deep learning-based approach is a very promising method for field maize drought identification and classification based on digital images.

Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work presents DVGG, an efficient grasp generation network that takes single-view observation as input and predicts high-quality grasp configurations for unknown objects. In general, our generative model consists of three components: 1) Point cloud completion for the target object based on the partial observation; 2) Diverse sets of grasps generation given the complete point cloud; 3) Iterative grasp pose refinement for physically plausible grasp optimization. To train our model, we build a large-scale grasping dataset that contains about 300 common object models with 1.5 M annotated grasps in simulation. Experiments in simulation show that our model can predict robust grasp poses with a wide variety and high success rate. Real robot platform experiments demonstrate that the model trained on our dataset performs well in the real world. Remarkably, our method achieves a grasp success rate of 70.7% for novel objects in the real robot platform, which is a significant improvement over the baseline methods.

Accurate and robust detection of multi-class objects in very high resolution (VHR) aerial images has been playing a significant role in many real-world applications. The traditional detection methods have made remarkable progresses with horizontal bounding boxes (HBBs) due to CNNs. However, HBB detection methods still exhibit limitations including the missed detection and the redundant detection regions, especially for densely-distributed and strip-like objects. Besides, large scale variations and diverse background also bring in many challenges. Aiming to address these problems, an effective region-based object detection framework named Multi-scale Feature Integration Attention Rotation Network (MFIAR-Net) is proposed for aerial images with oriented bounding boxes (OBBs), which promotes the integration of the inherent multi-scale pyramid features to generate a discriminative feature map. Meanwhile, the double-path feature attention network supervised by the mask information of ground truth is introduced to guide the network to focus on object regions and suppress the irrelevant noise. To boost the rotation regression and classification performance, we present a robust Rotation Detection Network, which can generate efficient OBB representation. Extensive experiments and comprehensive evaluations on two publicly available datasets demonstrate the effectiveness of the proposed framework.

This article investigates the challenge of enabling multi-finger hands to perform human-like functional grasping for various intentions. However, accomplishing functional grasping in real robot hands present many challenges, including handling generalization ability for kinematically diverse robot hands, generating intention-conditioned grasps for a large variety of objects, and incomplete perception from a single-view camera. In this work, we first propose a six-step functional grasp synthesis algorithm based on fine-grained contact modeling. With the fine-grained contact-based optimization and learned dense shape correspondence, the algorithm is adaptable to various objects of the same category and a wide range of multi-finger hands using few demonstrations. Secondly, over 10K functional grasps are synthesized to train our neural network, named DexFG-Net, which generates intention-conditioned grasps based on reconstructed object. Extensive experiments in the simulation and physical grasps indicate that the grasp synthesis algorithm can produce human-like functional grasp with robust stability and functionality, and the DexFG-Net can generate plausible and human-like intention-conditioned grasping postures for anthropomorphic hands. Project page and video demonstration is available at https://v-wewei.github.io/sr_dexgrasp .

Object detection in thermal images is an important computer vision task and has many applications such as unmanned vehicles, robotics, surveillance, and night vision. Deep learning-based detectors have achieved major progress, which usually need large amount of labelled training data. However, labelled data for object detection in thermal images is scarce and expensive to collect. How to take advantage of the large number labelled visible images and adapt them into thermal image domain is expected to solve. This paper proposes an unsupervised image-generation enhanced adaptation method for object detection in thermal images. To reduce the gap between visible domain and thermal domain, the proposed method manages to generate simulated fake thermal images that are similar to the target images and preserves the annotation information of the visible source domain. The image generation includes a CycleGAN-based image-to-image translation and an intensity inversion transformation. Generated fake thermal images are used as renewed source domain, and then the off-the-shelf domain adaptive faster RCNN is utilized to reduce the gap between the generated intermediate domain and the thermal target domain. Experiments demonstrate the effectiveness and superiority of the proposed method.