Related papers: SegMatch: Segment based loop-closure for 3D point …
Most end-to-end Multi-Object Tracking (MOT) methods face the problems of low accuracy and poor generalization ability. Although traditional filter-based methods can achieve better results, they are difficult to be endowed with optimal…
LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…
This study introduces SAMatch, a SAM-guided Match-based framework for semi-supervised medical image segmentation, aimed at improving pseudo label quality in data-scarce scenarios. While Match-based frameworks are effective, they struggle…
The ability to recognize previously mapped locations is an essential feature for autonomous systems. Unstructured planetary-like environments pose a major challenge to these systems due to the similarity of the terrain. As a result, the…
The performance of visual SLAM in complex, real-world scenarios is often compromised by unreliable feature extraction and matching when using handcrafted features. Although deep learning-based local features excel at capturing high-level…
The interest in 3D dynamical tracking is growing in fields such as robotics, biology and fluid dynamics. Recently, a major source of progress in 3D tracking has been the study of collective behaviour in biological systems, where the…
Clustering objects from the LiDAR point cloud is an important research problem with many applications such as autonomous driving. To meet the real-time requirement, existing research proposed to apply the connected-component-labeling (CCL)…
The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…
3D reconstruction is a fundamental issue in many applications and the feature point matching problem is a key step while reconstructing target objects. Conventional algorithms can only find a small number of feature points from two images…
LiDAR odometry (LO) describes the task of finding an alignment of subsequent LiDAR point clouds. This alignment can be used to estimate the motion of the platform where the LiDAR sensor is mounted on. Currently, on the well-known KITTI…
Odometry is a critical task for autonomous systems for self-localization and navigation. We propose a novel LiDAR-Visual odometry framework that integrates LiDAR point clouds and images for accurate and robust pose estimation. Our method…
Loop closure is an important task in robot navigation. However, existing methods mostly rely on some implicit or heuristic features of the environment, which can still fail to work in common environments such as corridors, tunnels, and…
In the field of 3D perception using 3D LiDAR sensors, ground segmentation is an essential task for various purposes, such as traversable area detection and object recognition. Under these circumstances, several ground segmentation methods…
For large-scale and long-term simultaneous localization and mapping (SLAM), a robot has to deal with unknown initial positioning caused by either the kidnapped robot problem or multi-session mapping. This paper addresses these problems by…
Generating 3D human motions from textual descriptions is an important research problem with broad applications in video games, virtual reality, and augmented reality. Recent methods align the textual description with human motion at the…
This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…
The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…
Most LiDAR odometry and SLAM systems construct maps in point clouds, which are discrete and sparse when zoomed in, making them not directly suitable for navigation. Mesh maps represent a dense and continuous map format with low memory…
Semantic outdoor scene understanding based on 3D LiDAR point clouds is a challenging task for autonomous driving due to the sparse and irregular data structure. This paper takes advantages of the uneven range distribution of different LiDAR…
Robust cross-seasonal localization is one of the major challenges in long-term visual navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic segmentation of images, i.e., where each pixel is assigned a…