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For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

Point cloud registration is a fundamental problem in 3D computer vision. Outdoor LiDAR point clouds are typically large-scale and complexly distributed, which makes the registration challenging. In this paper, we propose an efficient…

Research connecting text and images has recently seen several breakthroughs, with models like CLIP, DALL-E 2, and Stable Diffusion. However, the connection between text and other visual modalities, such as lidar data, has received less…

Multispectral and multimodal images are of important usage in the field of multi-source visual information fusion. Due to the alternation or movement of image devices, the acquired multispectral and multimodal images are usually misaligned,…

While camera and LiDAR are widely used in most of the assisted and autonomous driving systems, only a few works have been proposed to associate the temporal synchronization and extrinsic calibration for camera and LiDAR which are dedicated…

The motivation of this paper is to address the problem of registering airborne LiDAR data and optical aerial or satellite imagery acquired from different platforms, at different times, with different points of view and levels of detail. In…

Camera and LiDAR serve as informative sensors for accurate and robust autonomous driving systems. However, these sensors often exhibit heterogeneous natures, resulting in distributional modality gaps that present significant challenges for…

LiDAR and camera are two critical sensors for multi-modal 3D semantic segmentation and are supposed to be fused efficiently and robustly to promise safety in various real-world scenarios. However, existing multi-modal methods face two key…

Existing LiDAR-Camera fusion methods have achieved strong results in 3D object detection. To address the sparsity of point clouds, previous approaches typically construct spatial pseudo point clouds via depth completion as auxiliary input…

Multi-object tracking (MOT) with camera-LiDAR fusion demands accurate results of object detection, affinity computation and data association in real time. This paper presents an efficient multi-modal MOT framework with online joint…

Image-to-point cloud registration seeks to estimate their relative camera pose, which remains an open question due to the data modality gaps. The recent matching-based methods tend to tackle this by building 2D-3D correspondences. In this…

The accurate and robust calibration result of sensors is considered as an important building block to the follow-up research in the autonomous driving and robotics domain. The current works involving extrinsic calibration between 3D LiDARs…

With the objective of improving the registration of LiDAR point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D…

Patch-to-point matching has become a robust way of point cloud registration. However, previous patch-matching methods employ superpoints with poor localization precision as nodes, which may lead to ambiguous patch partitions. In this paper,…

Point cloud registration has seen significant advancements with the application of deep learning techniques. However, existing approaches often overlook the potential of integrating radiometric information from RGB images. This limitation…

Place recognition is an important technique for autonomous cars to achieve full autonomy since it can provide an initial guess to online localization algorithms. Although current methods based on images or point clouds have achieved…

LiDAR and cameras are complementary sensors for 3D object detection in autonomous driving. However, it is challenging to explore the unnatural interaction between point clouds and images, and the critical factor is how to conduct feature…

LiDAR sensors can provide dependable 3D spatial information at a low frequency (around 10Hz) and have been widely applied in the field of autonomous driving and UAV. However, the camera with a higher frequency (around 20Hz) has to be…

Co-Registration of aerial imagery and Light Detection and Ranging (LiDAR) data is quilt challenging because the different imaging mechanism causes significant geometric and radiometric distortions between such data. To tackle the problem,…

LiDAR-camera extrinsic calibration is essential for multi-modal data fusion in robotic perception systems. However, existing approaches typically rely on handcrafted calibration targets (e.g., checkerboards) or specific, static scene types,…