Related papers: 3D Line Mapping Revisited
This paper presents a method to reconstruct dense semantic trajectory stream of human interactions in 3D from synchronized multiple videos. The interactions inherently introduce self-occlusion and illumination/appearance/shape changes,…
3D reconstruction from a single-RGB image in unconstrained real-world scenarios presents numerous challenges due to the inherent diversity and complexity of objects and environments. In this paper, we introduce Anything-3D, a methodical…
The choice of data representation is a key factor in the success of deep learning in geometric tasks. For instance, DUSt3R recently introduced the concept of viewpoint-invariant point maps, generalizing depth prediction and showing that all…
Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…
3D reconstruction from single view images is an ill-posed problem. Inferring the hidden regions from self-occluded images is both challenging and ambiguous. We propose a two-pronged approach to address these issues. To better incorporate…
Simultaneous Localization and Mapping (SLAM) has been considered as a solved problem thanks to the progress made in the past few years. However, the great majority of LiDAR-based SLAM algorithms are designed for a specific type of payload…
With the advent of autonomous vehicles, LiDAR and cameras have become an indispensable combination of sensors. They both provide rich and complementary data which can be used by various algorithms and machine learning to sense and make…
We present CogniMap3D, a bioinspired framework for dynamic 3D scene understanding and reconstruction that emulates human cognitive processes. Our approach maintains a persistent memory bank of static scenes, enabling efficient spatial…
Multidimensional projections (MP) are among the most essential approaches in the visual analysis of multidimensional data. It transforms multidimensional data into two-dimensional representations that may be shown as scatter plots while…
Neural distance fields offer a compact and continuous representation of 3D geometry, making them attractive for incremental LiDAR mapping. However, their online optimization is vulnerable to catastrophic forgetting, where new observations…
Large-scale multi-session LiDAR mapping is essential for a wide range of applications, including surveying, autonomous driving, crowdsourced mapping, and multi-agent navigation. However, existing approaches often struggle with data…
We present a simple yet effective method to address loop closure detection in simultaneous localisation and mapping using local 3D deep descriptors (L3Ds). L3Ds are emerging compact representations of patches extracted from point clouds…
In this paper, we introduce POMA-3D, the first self-supervised 3D representation model learned from point maps. Point maps encode explicit 3D coordinates on a structured 2D grid, preserving global 3D geometry while remaining compatible with…
Lifelong indoor localization in a given map is the basis for navigation of autonomous mobile robots. In this letter, we address the problem of robust localization in cluttered indoor environments like office spaces and corridors using 3D…
In crowded urban environments where traffic is dense, current technologies struggle to oversee tight navigation, but surface-level understanding allows autonomous vehicles to safely assess proximity to surrounding obstacles. 3D or 2D scene…
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…
Pre-trained Vision-Language Models (VLMs), like CLIP, exhibit strong generalization ability to downstream tasks but struggle in few-shot scenarios. Existing prompting techniques primarily focus on global text and image representations, yet…
Large language model (LLM) decoding is a major inference bottleneck because its low arithmetic intensity makes performance highly sensitive to memory bandwidth. 3D-stacked near-memory processing (NMP) provides substantially higher local…
This paper presents a novel method for the reconstruction of 3D edges in multi-view stereo scenarios. Previous research in the field typically relied on video sequences and limited the reconstruction process to either straight…
Recovering 3D geometry of underwater scenes is challenging because of non-linear refraction of light at the water-air interface caused by the camera housing. We present a light field-based approach that leverages properties of angular…