Related papers: CLAMP: Majorized Plug-and-Play for Coherent 3D LID…

For image recovery problems, plug-and-play (PnP) methods have been developed that replace the proximal step in an optimization algorithm with a call to an application-specific denoiser, often implemented using a deep neural network.…

This paper introduces a novel self-supervised learning framework for enhancing 3D perception in autonomous driving scenes. Specifically, our approach, namely NCLR, focuses on 2D-3D neural calibration, a novel pretext task that estimates the…

Imaging across both the full transverse spatial and temporal dimensions of a scene with high precision in all three coordinates is key to applications ranging from LIDAR to fluorescence lifetime imaging. However, compromises that sacrifice,…

LiDAR-based 3D panoptic segmentation often struggles with the inherent sparsity of data from LiDAR sensors, which makes it challenging to accurately recognize distant or small objects. Recently, a few studies have sought to overcome this…

Model merging aims to integrate the strengths of multiple fine-tuned models into a unified model while preserving task-specific capabilities. Existing methods, represented by task arithmetic, are typically classified into global- and…

The current LiDAR SLAM (Simultaneous Localization and Mapping) system suffers greatly from low accuracy and limited robustness when faced with complicated circumstances. From our experiments, we find that current LiDAR SLAM systems have…

Accurate camera-LiDAR calibration is a prerequisite for robust multi-modal perception in robotics. Recent target-less approaches based on deep point correspondences achieve remarkable performance for extrinsic calibration but assume…

In this work, we present new proofs of convergence for Plug-and-Play (PnP) algorithms. PnP methods are efficient iterative algorithms for solving image inverse problems where regularization is performed by plugging a pre-trained denoiser in…

Contrastive Language and Image Pairing (CLIP), a transformative method in multimedia retrieval, typically trains two neural networks concurrently to generate joint embeddings for text and image pairs. However, when applied directly, these…

Large-scale natural image-text datasets, especially those automatically collected from the web, often suffer from loose semantic alignment due to weak supervision, while medical datasets tend to have high cross-modal correlation but low…

Accurate LiDAR-camera calibration is crucial for multi-sensor systems. However, traditional methods often rely on physical targets, which are impractical for real-world deployment. Moreover, even carefully calibrated extrinsics can degrade…

Plug-and-Play diffusion prior (PnPDP) frameworks have emerged as a powerful paradigm for solving imaging inverse problems by treating pretrained generative models as modular priors. However, we identify a critical flaw in prevailing PnP…

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…

Coherent LiDAR (Light Detecting And Ranging) is a promising 3D imaging technology that provides significant advantages over more traditional LiDAR systems. In addition to being immune to ambient light, it directly measures the velocity of…

Multi-dimensional images, such as color images and multi-spectral images, are highly correlated and contain abundant spatial and spectral information. However, real-world multi-dimensional images are usually corrupted by missing entries. By…

Regularized inversion methods for image reconstruction are used widely due to their tractability and ability to combine complex physical sensor models with useful regularity criteria. Such methods motivated the recently developed…

Vision transformers have shown outstanding performance in image generation, yet their adoption in fluid dynamics remains limited. We introduce the Latent Attention on Masked Patches (LAMP) model, an interpretable regression-based modified…

Model-based methods play a key role in the reconstruction of compressed sensing (CS) MRI. Finding an effective prior to describe the statistical distribution of the image family of interest is crucial for model-based methods. Plug-and-play…

Recently, vision-language models like CLIP have advanced the state of the art in a variety of multi-modal tasks including image captioning and caption evaluation. Many approaches leverage CLIP for cross-modal retrieval to condition…

Reliable loop closure detection remains a critical challenge in 3D LiDAR-based SLAM, especially under sensor noise, environmental ambiguity, and viewpoint variation conditions. RANSAC is often used in the context of loop closures for…