Related papers: Monocular Visual Place Recognition in LiDAR Maps v…

Place recognition is an important task for robots and autonomous cars to localize themselves and close loops in pre-built maps. While single-modal sensor-based methods have shown satisfactory performance, cross-modal place recognition that…

Global visual localization in LiDAR-maps, crucial for autonomous driving applications, remains largely unexplored due to the challenging issue of bridging the cross-modal heterogeneity gap. Popular multi-modal learning approach Contrastive…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…

Place recognition is a challenging task in computer vision, crucial for enabling autonomous vehicles and robots to navigate previously visited environments. While significant progress has been made in learnable multimodal methods that…

A key contributor to recent progress in 3D detection from single images is monocular depth estimation. Existing methods focus on how to leverage depth explicitly, by generating pseudo-pointclouds or providing attention cues for image…

Place recognition is the foundation for enabling autonomous systems to achieve independent decision-making and safe operations. It is also crucial in tasks such as loop closure detection and global localization within SLAM. Previous methods…

Place recognition is a key module for long-term SLAM systems. Current LiDAR-based place recognition methods usually use representations of point clouds such as unordered points or range images. These methods achieve high recall rates of…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

In this paper, we present a monocular Simultaneous Localization and Mapping (SLAM) algorithm using high-level object and plane landmarks. The built map is denser, more compact and semantic meaningful compared to feature point based SLAM. We…

Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…

We study an important, yet largely unexplored problem of large-scale cross-modal visual localization by matching ground RGB images to a geo-referenced aerial LIDAR 3D point cloud (rendered as depth images). Prior works were demonstrated on…

This paper demonstrates a system capable of combining a sparse, indirect, monocular visual SLAM, with both offline and real-time Multi-View Stereo (MVS) reconstruction algorithms. This combination overcomes many obstacles encountered by…

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the…

This paper presents a new approach to boost a single-modality (LiDAR) 3D object detector by teaching it to simulate features and responses that follow a multi-modality (LiDAR-image) detector. The approach needs LiDAR-image data only when…

In this paper, we design a multimodal framework for object detection, recognition and mapping based on the fusion of stereo camera frames, point cloud Velodyne Lidar scans, and Vehicle-to-Vehicle (V2V) Basic Safety Messages (BSMs) exchanged…

In this work, we develop a monocular SLAM-aware object recognition system that is able to achieve considerably stronger recognition performance, as compared to classical object recognition systems that function on a frame-by-frame basis. By…

Cross-modal place recognition methods are flexible GPS-alternatives under varying environment conditions and sensor setups. However, this task is non-trivial since extracting consistent and robust global descriptors from different…

Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…

For autonomous vehicles, driving safely is highly dependent on the capability to correctly perceive the environment in 3D space, hence the task of 3D object detection represents a fundamental aspect of perception. While 3D sensors deliver…