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Removing outlier correspondences is one of the critical steps for successful feature-based point cloud registration. Despite the increasing popularity of introducing deep learning methods in this field, spatial consistency, which is…

Communication costs within Federated learning hinder the system scalability for reaching more data from more clients. The proposed FL adopts a hub-and-spoke network topology. All clients communicate through the central server. Hence,…

Current multispectral object detection methods often retain extraneous background or noise during feature fusion, limiting perceptual performance. To address this, we propose an innovative feature fusion framework based on cross-modal…

To eliminate the problems of large dimensional differences, big semantic gap, and mutual interference caused by hybrid features, in this paper, we propose a novel Multi-Features Guidance Network for partial-to-partial point cloud…

Point cloud registration has seen significant advancements with the application of deep learning techniques. However, existing approaches often overlook the potential of integrating radiometric information from RGB images. This limitation…

Rejecting outliers before applying classical robust methods is a common approach to increase the success rate of estimation, particularly when the outlier ratio is extremely high (e.g. 90%). However, this method often relies on sensor- or…

Cross-modality fusing complementary information of multispectral remote sensing image pairs can improve the perception ability of detection algorithms, making them more robust and reliable for a wider range of applications, such as…

Multispectral image pairs can provide the combined information, making object detection applications more reliable and robust in the open world. To fully exploit the different modalities, we present a simple yet effective cross-modality…

In feature-learning based point cloud registration, the correct correspondence construction is vital for the subsequent transformation estimation. However, it is still a challenge to extract discriminative features from point cloud,…

The goal of multi-modal learning is to use complimentary information on the relevant task provided by the multiple modalities to achieve reliable and robust performance. Recently, deep learning has led significant improvement in multi-modal…

An established approach for 3D point cloud registration is to estimate the registration function from 3D keypoint correspondences. Typically, a robust technique is required to conduct the estimation, since there are false correspondences or…

Establishing the correct correspondence of feature points is a fundamental task in computer vision. However, the presence of numerous outliers among the feature points can significantly affect the matching results, reducing the accuracy and…

Feature fusion, the combination of features from different layers or branches, is an omnipresent part of modern network architectures. It is often implemented via simple operations, such as summation or concatenation, but this might not be…

We present a simple yet effective method for 3D correspondence grouping. The objective is to accurately classify initial correspondences obtained by matching local geometric descriptors into inliers and outliers. Although the spatial…

Registration is a basic yet crucial task in point cloud processing. In correspondence-based point cloud registration, matching correspondences by point feature techniques may lead to an extremely high outlier ratio. Current methods still…

This paper presents Segregator, a global point cloud registration framework that exploits both semantic information and geometric distribution to efficiently build up outlier-robust correspondences and search for inliers. Current…

The existing state-of-the-art point descriptor relies on structure information only, which omit the texture information. However, texture information is crucial for our humans to distinguish a scene part. Moreover, the current…

Graph Neural Networks (GNNs) have demonstrated effectiveness in collaborative filtering tasks due to their ability to extract powerful structural features. However, combining the graph features extracted from user-item interactions and…

Image fusion aims to generate a high-quality image from multiple images captured under varying conditions. The key problem of this task is to preserve complementary information while filtering out irrelevant information for the fused…

Spatial perception is the backbone of many robotics applications, and spans a broad range of research problems, including localization and mapping, point cloud alignment, and relative pose estimation from camera images. Robust spatial…