Related papers: RE-TRIP : Reflectivity Instance Augmented Triangle…

Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…

Robust local feature representations are essential for spatial intelligence tasks such as robot navigation and augmented reality. Establishing reliable correspondences requires descriptors that provide both high discriminative power and…

The use of Augmented Reality (AR) for navigation purposes has shown beneficial in assisting physicians during the performance of surgical procedures. These applications commonly require knowing the pose of surgical tools and patients to…

Region-based image retrieval (RBIR) technique is revisited. In early attempts at RBIR in the late 90s, researchers found many ways to specify region-based queries and spatial relationships; however, the way to characterize the regions, such…

In this paper, we present a novel approach that exploits the information within the descriptor space to propose keypoint locations. Detect then describe, or detect and describe jointly are two typical strategies for extracting local…

The 3D LiDAR place recognition aims to estimate a coarse localization in a previously seen environment based on a single scan from a rotating 3D LiDAR sensor. The existing solutions to this problem include hand-crafted point cloud…

3D object detection is essential in autonomous driving, providing vital information about moving objects and obstacles. Detecting objects in distant regions with only a few LiDAR points is still a challenge, and numerous strategies have…

Developing an effective evaluation metric is crucial for accurately and swiftly measuring LiDAR perception performance. One major issue is the lack of metrics that can simultaneously generate fast and accurate evaluations based on either…

To learn distinguishable patterns, most of recent works in vehicle re-identification (ReID) struggled to redevelop official benchmarks to provide various supervisions, which requires prohibitive human labors. In this paper, we seek to…

Most real-world 3D sensors such as LiDARs perform fixed scans of the entire environment, while being decoupled from the recognition system that processes the sensor data. In this work, we propose a method for 3D object recognition using…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

Accurate camera pose estimation from an image observation in a previously mapped environment is commonly done through structure-based methods: by finding correspondences between 2D keypoints on the image and 3D structure points in the map.…

Person re-identification (Re-ID) aims to match person images across different camera views, with occluded Re-ID addressing scenarios where pedestrians are partially visible. While pre-trained vision-language models have shown effectiveness…

LiDAR-based Place Recognition (LPR) remains a critical task in Embodied Artificial Intelligence (AI) and Autonomous Driving, primarily addressing localization challenges in GPS-denied environments and supporting loop closure detection.…

LiDAR is widely used to capture accurate 3D outdoor scene structures. However, LiDAR produces many undesirable noise points in snowy weather, which hamper analyzing meaningful 3D scene structures. Semantic segmentation with snow labels…

This paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Traditional LiDAR Simultaneous Localization and Mapping (SLAM)…

To achieve accurate 3D object detection at a low cost for autonomous driving, many multi-camera methods have been proposed and solved the occlusion problem of monocular approaches. However, due to the lack of accurate estimated depth,…

The goal of occluded person re-identification (ReID) is to retrieve specific pedestrians in occluded situations. However, occluded person ReID still suffers from background clutter and low-quality local feature representations, which limits…

The Large-scale 3D reconstruction, texturing and semantic mapping are nowadays widely used for automated driving vehicles, virtual reality and automatic data generation. However, most approaches are developed for RGB-D cameras with colored…

Person re-identification (Re-ID) aims to match pedestrians under dis-joint cameras. Most Re-ID methods formulate it as visual representation learning and image search, and its accuracy is consequently affected greatly by the search space.…