Related papers: ASIST: Automatic Semantically Invariant Scene Tran…

Visual localization is a useful alternative to standard localization techniques. It works by utilizing cameras. In a typical scenario, features are extracted from captured images and compared with geo-referenced databases. Location…

This paper focuses on improved edge model based on Curvelet coefficients analysis. Curvelet transform is a powerful tool for multiresolution representation of object with anisotropic edge. Curvelet coefficients contributions have been…

Point cloud recognition is an essential task in industrial robotics and autonomous driving. Recently, several point cloud processing models have achieved state-of-the-art performances. However, these methods lack rotation robustness, and…

The current state-of-the-art methods in 3D instance segmentation typically involve a clustering step, despite the tendency towards heuristics, greedy algorithms, and a lack of robustness to the changes in data statistics. In contrast, we…

Weakly supervised video anomaly detection (WS-VAD) is to distinguish anomalies from normal events based on discriminative representations. Most existing works are limited in insufficient video representations. In this work, we develop a…

With the increased availability of 3D scanning technology, point clouds are moving into the focus of computer vision as a rich representation of everyday scenes. However, they are hard to handle for machine learning algorithms due to their…

We present MaskFusion, a real-time, object-aware, semantic and dynamic RGB-D SLAM system that goes beyond traditional systems which output a purely geometric map of a static scene. MaskFusion recognizes, segments and assigns semantic class…

Given two object images, how can we explain their differences in terms of the underlying object properties? To address this question, we propose Align-Deform-Subtract (ADS) -- an interventional framework for explaining object differences.…

The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…

In recent years, instance segmentation has garnered significant attention across various applications. However, training a fully-supervised instance segmentation model requires costly both instance-level and pixel-level annotations. In…

Large-scale datasets are usually required to train deep neural networks, but it increases the computational complexity hindering the practical applications. Recently, dataset distillation for images and texts has been attracting a lot of…

Conditional diffusion models can create unseen images in various settings, aiding image interpolation. Interpolation in latent spaces is well-studied, but interpolation with specific conditions like text or poses is less understood. Simple…

We propose a novel visual SLAM method that integrates text objects tightly by treating them as semantic features via fully exploring their geometric and semantic prior. The text object is modeled as a texture-rich planar patch whose…

Accurate and robust localization remains a significant challenge for autonomous vehicles. The cost of sensors and limitations in local computational efficiency make it difficult to scale to large commercial applications. Traditional…

In this work, we explore the use of objects in Simultaneous Localization and Mapping in unseen worlds and propose an object-aided system (OA-SLAM). More precisely, we show that, compared to low-level points, the major benefit of objects…

Reconstructing hand-held objects in 3D from monocular images remains a significant challenge in computer vision. Most existing approaches rely on implicit 3D representations, which produce overly smooth reconstructions and are…

We introduce an open-source system called SIGMA (short for "Situated Interactive Guidance, Monitoring, and Assistance") as a platform for conducting research on task-assistive agents in mixed-reality scenarios. The system leverages the…

LiDAR sensors provide rich 3D information about their surrounding{s} and are becoming increasingly important for autonomous vehicles tasks such as {localization}, semantic segmentation, object detection, and tracking. {Simulation}…

Semantic segmentation on point clouds is critical for 3D scene understanding. However, sparse and irregular point distributions provide limited appearance evidence, making geometry-only features insufficient to distinguish objects with…

3D object detection has achieved remarkable progress by taking point clouds as the only input. However, point clouds often suffer from incomplete geometric structures and the lack of semantic information, which makes detectors hard to…