Related papers: Sphere2Vec: Multi-Scale Representation Learning ov…

We propose position-velocity encoders (PVEs) which learn---without supervision---to encode images to positions and velocities of task-relevant objects. PVEs encode a single image into a low-dimensional position state and compute the…

Rotation estimation of high precision from an RGB-D object observation is a huge challenge in 6D object pose estimation, due to the difficulty of learning in the non-linear space of SO(3). In this paper, we propose a novel rotation…

This study aims to analyze the benefits of improved multi-scale reasoning for object detection and localization with deep convolutional neural networks. To that end, an efficient and general object detection framework which operates on…

Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…

During the last decades, we have witnessed a surge of interests of learning a low-dimensional space with discriminative information from one single view. Even though most of them can achieve satisfactory performance in some certain…

In this paper we address three different computer vision tasks using a single basic architecture: depth prediction, surface normal estimation, and semantic labeling. We use a multiscale convolutional network that is able to adapt easily to…

This paper provides a comprehensive survey on pioneer and state-of-the-art 3D scene geometry estimation methodologies based on single, two, or multiple images captured under the omnidirectional optics. We first revisit the basic concepts of…

Bird's-Eye View (BEV) features are popular intermediate scene representations shared by the 3D backbone and the detector head in LiDAR-based object detectors. However, little research has been done to investigate how to incorporate…

Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…

Analyzing scalar and vector fields on the sphere, such as temperature or wind speed and direction on Earth, is a difficult task. Models should respect both the rotational symmetries of the sphere and the inherent symmetries of the vector…

Semantic segmentation of point clouds, aiming to assign each point a semantic category, is critical to 3D scene understanding.Despite of significant advances in recent years, most of existing methods still suffer from either the…

In this paper we address the task of visual place recognition (VPR), where the goal is to retrieve the correct GPS coordinates of a given query image against a huge geotagged gallery. While recent works have shown that building descriptors…

We introduce Perception Encoder (PE), a state-of-the-art vision encoder for image and video understanding trained via simple vision-language learning. Traditionally, vision encoders have relied on a variety of pretraining objectives, each…

A fundamental problem faced by object recognition systems is that objects and their features can appear in different locations, scales and orientations. Current deep learning methods attempt to achieve invariance to local translations via…

Existing methods of multi-person video 3D human Pose and Shape Estimation (PSE) typically adopt a two-stage strategy, which first detects human instances in each frame and then performs single-person PSE with temporal model. However, the…

3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…

Visual Place Recognition (VPR) is crucial for robust mobile robot localization, yet it faces significant challenges in maintaining reliable performance under varying environmental conditions and viewpoints. To address this, we propose a…

Pre-training by numerous image data has become de-facto for robust 2D representations. In contrast, due to the expensive data acquisition and annotation, a paucity of large-scale 3D datasets severely hinders the learning for high-quality 3D…

Place recognition plays a crucial role in re-localization and loop closure detection tasks for robots and vehicles. This paper seeks a well-defined global descriptor for LiDAR-based place recognition. Compared to local descriptors, global…

3D object recognition accuracy can be improved by learning the multi-scale spatial features from 3D spatial geometric representations of objects such as point clouds, 3D models, surfaces, and RGB-D data. Current deep learning approaches…