Related papers: 3D Spectral Domain Registration-Based Visual Servo…

Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…

Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from…

Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…

3D object grounding aims to locate the most relevant target object in a raw point cloud scene based on a free-form language description. Understanding complex and diverse descriptions, and lifting them directly to a point cloud is a new and…

Deformable image registration (DIR) is a crucial and challenging technique for aligning anatomical structures in medical images and is widely applied in diverse clinical applications. However, existing approaches often struggle to capture…

This paper presents a novel 3D semantic segmentation method for large-scale point cloud data that does not require annotated 3D training data or paired RGB images. The proposed approach projects 3D point clouds onto 2D images using virtual…

LiDAR-based 3D object detection is an indispensable task in advanced autonomous driving systems. Though impressive detection results have been achieved by superior 3D detectors, they suffer from significant performance degeneration when…

Image subtraction is essential for transient detection in time-domain astronomy. The point spread function (PSF), photometric scaling, and sky background generally vary with time and across the field-of-view for imaging data taken with…

This paper proposes SOLVR, a unified pipeline for learning based LiDAR-Visual re-localisation which performs place recognition and 6-DoF registration across sensor modalities. We propose a strategy to align the input sensor modalities by…

Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…

Recently most popular tracking frameworks focus on 2D image sequences. They seldom track the 3D object in point clouds. In this paper, we propose PointIT, a fast, simple tracking method based on 3D on-road instance segmentation. Firstly, we…

DUSt3R has recently shown that one can reduce many tasks in multi-view geometry, including estimating camera intrinsics and extrinsics, reconstructing the scene in 3D, and establishing image correspondences, to the prediction of a pair of…

This paper introduces VolMap, a real-time approach for the semantic segmentation of a 3D LiDAR surrounding view system in autonomous vehicles. We designed an optimized deep convolution neural network that can accurately segment the point…

Ground segmentation is an important preprocessing task for autonomous vehicles (AVs) with 3D LiDARs. To solve the problem of existing ground segmentation methods being very difficult to balance accuracy and computational complexity, a fast…

In this paper, we propose a novel voxel-based 3D single object tracking (3D SOT) method called Voxel Pseudo Image Tracking (VPIT). VPIT is the first method that uses voxel pseudo images for 3D SOT. The input point cloud is structured by…

The 3D visual grounding task has been explored with visual and language streams comprehending referential language to identify target objects in 3D scenes. However, most existing methods devote the visual stream to capturing the 3D visual…

We introduce the task of 3D visual grounding in large-scale dynamic scenes based on natural linguistic descriptions and online captured multi-modal visual data, including 2D images and 3D LiDAR point clouds. We present a novel method,…

Point cloud registration is challenging in the presence of heavy outlier correspondences. This paper focuses on addressing the robust correspondence-based registration problem with gravity prior that often arises in practice. The gravity…

As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…

Collaborative path planning for robot swarms in complex, unknown environments without external positioning is a challenging problem. This requires robots to find safe directions based on real-time environmental observations, and to…