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

We tackle the challenge of LiDAR-based place recognition, which traditionally depends on costly and time-consuming prior 3D maps. To overcome this, we first construct LiRSI-XA dataset, which encompasses approximately $110,000$ remote…

Monocular 3D object detection is one of the most challenging tasks in 3D scene understanding. Due to the ill-posed nature of monocular imagery, existing monocular 3D detection methods highly rely on training with the manually annotated 3D…

State-of-the-art 3D models, which excel in recognition tasks, typically depend on large-scale datasets and well-defined category sets. Recent advances in multi-modal pre-training have demonstrated potential in learning 3D representations by…

Inferring object 3D position and orientation from a single RGB camera is a foundational task in computer vision with many important applications. Traditionally, 3D object detection methods are trained in a fully-supervised setup, requiring…

This paper presents a visual SLAM system that uses both points and lines for robust camera localization, and simultaneously performs a piece-wise planar reconstruction (PPR) of the environment to provide a structural map in real-time. One…

Open-world 3D scene understanding is a critical challenge that involves recognizing and distinguishing diverse objects and categories from 3D data, such as point clouds, without relying on manual annotations. Traditional methods struggle…

Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging…

Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While sparse point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of…

Monocular 3D object detection aims to predict the object location, dimension and orientation in 3D space alongside the object category given only a monocular image. It poses a great challenge due to its ill-posed property which is…

Multiple object detection and pose estimation are vital computer vision tasks. The latter relates to the former as a downstream problem in applications such as robotics and autonomous driving. However, due to the high complexity of both…

Monocular 3D object detection offers a cost-effective solution for autonomous driving but suffers from ill-posed depth and limited field of view. These constraints cause a lack of geometric cues and reduced accuracy in occluded or truncated…

Monocular 3D detection has drawn much attention from the community due to its low cost and setup simplicity. It takes an RGB image as input and predicts 3D boxes in the 3D space. The most challenging sub-task lies in the instance depth…

LiDAR-based localization approach is a fundamental module for large-scale navigation tasks, such as last-mile delivery and autonomous driving, and localization robustness highly relies on viewpoints and 3D feature extraction. Our previous…

Monocular 3D object detection is well-known to be a challenging vision task due to the loss of depth information; attempts to recover depth using separate image-only approaches lead to unstable and noisy depth estimates, harming 3D…

Visual Place Recognition is a task that aims to predict the coordinates of an image (called query) based solely on visual clues. Most commonly, a retrieval approach is adopted, where the query is matched to the most similar images from a…

A Colored point cloud, as a simple and efficient 3D representation, has many advantages in various fields, including robotic navigation and scene reconstruction. This representation is now commonly used in 3D reconstruction tasks relying on…

Realistic and controllable panoramic LiDAR data generation is critical for scalable 3D perception in autonomous driving and robotics. Existing methods either perform unconditional generation with poor controllability or adopt text-guided…

LiDAR and cameras are two complementary sensors for 3D perception in autonomous driving. LiDAR point clouds have accurate spatial and geometry information, while RGB images provide textural and color data for context reasoning. To exploit…

With the advent of powerful, light-weight 3D LiDARs, they have become the hearth of many navigation and SLAM algorithms on various autonomous systems. Pointcloud registration methods working with unstructured pointclouds such as ICP are…

Monocular 3D Visual Grounding (Mono3DVG) is an emerging task that locates 3D objects in RGB images using text descriptions with geometric cues. However, existing methods face two key limitations. Firstly, they often over-rely on…