Related papers: Learning a Local Feature Descriptor for 3D LiDAR S…

Image alignment tasks require accurate pixel correspondences, which are usually recovered by matching local feature descriptors. Such descriptors are often derived using supervised learning on existing datasets with ground truth…

Local feature extraction remains an active research area due to the advances in fields such as SLAM, 3D reconstructions, or AR applications. The success in these applications relies on the performance of the feature detector and descriptor.…

Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques are efficient but commit to a state estimate immediately…

For relocalization in large-scale point clouds, we propose the first approach that unifies global place recognition and local 6DoF pose refinement. To this end, we design a Siamese network that jointly learns 3D local feature detection and…

Methods from computational topology are becoming more and more popular in computer vision and have shown to improve the state-of-the-art in several tasks. In this paper, we investigate the applicability of topological descriptors in the…

Finding point-wise correspondences between images is a long-standing problem in image analysis. This becomes particularly challenging for sketch images, due to the varying nature of human drawing style, projection distortions and viewport…

Simultaneous localization and mapping (SLAM) is a fundamental capability required by most autonomous systems. In this paper, we address the problem of loop closing for SLAM based on 3D laser scans recorded by autonomous cars. Our approach…

This paper presents a simple yet very effective data-driven approach to fuse both low-level and high-level local geometric features for 3D rigid data matching. It is a common practice to generate distinctive geometric descriptors by fusing…

We propose a deep learning approach for finding dense correspondences between 3D scans of people. Our method requires only partial geometric information in the form of two depth maps or partial reconstructed surfaces, works for humans in…

Matching surfaces is a challenging 3D Computer Vision problem typically addressed by local features. Although a variety of 3D feature detectors and descriptors has been proposed in literature, they have seldom been proposed together and it…

As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…

Purpose: Deformable Image Registration (DIR) can benefit from additional guidance using corresponding landmarks in the images. However, the benefits thereof are largely understudied, especially due to the lack of automatic landmark…

This paper introduces a novel self-supervised learning framework for enhancing 3D perception in autonomous driving scenes. Specifically, our approach, namely NCLR, focuses on 2D-3D neural calibration, a novel pretext task that estimates the…

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…

Simultaneous localization and mapping (SLAM) has been a hot research field in the past years. Against the backdrop of more affordable 3D LiDAR sensors, research on 3D LiDAR SLAM is becoming increasingly popular. Furthermore, the…

Recent innovations in training deep convolutional neural network (ConvNet) models have motivated the design of new methods to automatically learn local image descriptors. The latest deep ConvNets proposed for this task consist of a siamese…

Local geometric descriptors remain an essential component for 3D rigid data matching and fusion. The devise of a rotational invariant local geometric descriptor usually consists of two steps: local reference frame (LRF) construction and…

In this letter, we propose a pseudo-siamese convolutional neural network (CNN) architecture that enables to solve the task of identifying corresponding patches in very-high-resolution (VHR) optical and synthetic aperture radar (SAR) remote…