Related papers: AlignMiF: Geometry-Aligned Multimodal Implicit Fie…

This paper presents a novel fusion technique for LiDAR Simultaneous Localization and Mapping (SLAM), aimed at improving localization and 3D mapping using LiDAR sensor. Our approach centers on the Inferred Attention Fusion (INAF) module,…

Large vision-language models (VLMs) show strong multimodal understanding but still struggle with 3D spatial reasoning, such as distance estimation, size comparison, and cross-view consistency. Existing 3D-aware methods either depend on…

This paper presents a tightly-coupled multi-sensor fusion algorithm termed LiDAR-inertial-camera fusion (LIC-Fusion), which efficiently fuses IMU measurements, sparse visual features, and extracted LiDAR points. In particular, the proposed…

Fusing data from LiDAR and camera is conceptually attractive because of their complementary properties. For instance, camera images are higher resolution and have colors, while LiDAR data provide more accurate range measurements and have a…

With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…

Photorealistic simulation plays a crucial role in applications such as autonomous driving, where advances in neural radiance fields (NeRFs) may allow better scalability through the automatic creation of digital 3D assets. However,…

Neural radiance fields have recently revolutionized novel-view synthesis and achieved high-fidelity renderings. However, these methods sacrifice the geometry for the rendering quality, limiting their further applications including…

State-of-the-art LiDAR-camera 3D object detectors usually focus on feature fusion. However, they neglect the factor of depth while designing the fusion strategy. In this work, we are the first to observe that different modalities play…

We present an effective method for the matching of multimodal images. Accurate image matching is the basis of various applications, such as image registration and structure from motion. Conventional matching methods fail when handling noisy…

Multi-modal fusion of sensors is a commonly used approach to enhance the performance of odometry estimation, which is also a fundamental module for mobile robots. However, the question of \textit{how to perform fusion among different…

Accurate camera-LiDAR fusion relies on precise extrinsic calibration, which fundamentally depends on establishing reliable cross-modal correspondences under potentially large misalignments. Existing learning-based methods typically project…

There has recently been growing interest in utilizing multimodal sensors to achieve robust lane line segmentation. In this paper, we introduce a novel multimodal fusion architecture from an information theory perspective, and demonstrate…

We present a neural-field-based large-scale reconstruction system that fuses lidar and vision data to generate high-quality reconstructions that are geometrically accurate and capture photo-realistic textures. This system adapts the…

Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…

The combination of LiDAR and camera modalities is proven to be necessary and typical for 3D object detection according to recent studies. Existing fusion strategies tend to overly rely on the LiDAR modal in essence, which exploits the…

Industrial anomaly detection (IAD) increasingly benefits from integrating 2D and 3D data, but robust cross-modal fusion remains challenging. We propose a novel unsupervised framework, Multi-Modal Attention-Driven Fusion Restoration (MAFR),…

Multi-modal image fusion aims to integrate complementary information from multiple source images to produce high-quality fused images with enriched content. Although existing approaches based on state space model have achieved satisfied…

We present Neural Fields for LiDAR (NFL), a method to optimise a neural field scene representation from LiDAR measurements, with the goal of synthesizing realistic LiDAR scans from novel viewpoints. NFL combines the rendering power of…

A fundamental problem in robotic perception is matching identical objects or data, with applications such as loop closure detection, place recognition, object tracking, and map fusion. While the problem becomes considerably more challenging…

Low-Light Enhancement (LLE) is aimed at improving the quality of photos/videos captured under low-light conditions. It is worth noting that most existing LLE methods do not take advantage of geometric modeling. We believe that incorporating…