Related papers: Mag-Match: Magnetic Vector Field Features for Map …
Visual Place Recognition (VPR) is a core component in computer vision, typically formulated as an image retrieval task for localization, mapping, and navigation. In this work, we instead study VPR as an image pair retrieval front-end for…
Establishing point-to-point correspondences across multiple 3D shapes is a fundamental problem in computer vision and graphics. In this paper, we introduce DcMatch, a novel unsupervised learning framework for non-rigid multi-shape matching.…
Recent advances in 4D imaging radar have enabled robust perception in adverse weather, while camera sensors provide dense semantic information. Fusing the these complementary modalities has great potential for cost-effective 3D perception.…
In this paper, we compare different map management techniques for long-term visual navigation in changing environments. In this scenario, the navigation system needs to continuously update and refine its feature map in order to adapt to the…
Topographic mapping in planetary environments relies on accurate 3D scan registration methods. However, most global registration algorithms relying on features such as FPFH and Harris-3D show poor alignment accuracy in these settings due to…
Inspired by the fact that humans use diverse sensory organs to perceive the world, sensors with different modalities are deployed in end-to-end driving to obtain the global context of the 3D scene. In previous works, camera and LiDAR inputs…
As one of the automotive sensors that have emerged in recent years, 4D millimeter-wave radar has a higher resolution than conventional 3D radar and provides precise elevation measurements. But its point clouds are still sparse and noisy,…
LiDAR odometry is a fundamental task for various areas such as robotics, autonomous driving. This problem is difficult since it requires the systems to be highly robust running in noisy real-world data. Existing methods are mostly local…
In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and…
Efficient motion planning for high-dimensional robotic systems, such as manipulators and mobile manipulators, is critical for real-time operation and reliable deployment. Although advances in planning algorithms have enhanced scalability to…
Sensitive magnetometers have been applied in a wide range of research fields, including geophysical exploration, bio-magnetic field detection, ultralow-field nuclear magnetic resonance, etc. Commonly, magnetometers are directly placed at…
The current state-of-the-art hand gesture recognition methodologies heavily rely in the use of machine learning. However there are scenarios that machine learning cannot be applied successfully, for example in situations where data is…
Feature matching is a cornerstone task in computer vision, essential for applications such as image retrieval, stereo matching, 3D reconstruction, and SLAM. This survey comprehensively reviews modality-based feature matching, exploring…
We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…
While image registration has been studied in remote sensing community for decades, registering multimodal data [e.g., optical, LiDAR, SAR, and map] remains a challenging problem because of significant nonlinear intensity differences between…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…
Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…
Local feature matching enjoys wide-ranging applications in the realm of computer vision, encompassing domains such as image retrieval, 3D reconstruction, and object recognition. However, challenges persist in improving the accuracy and…
Matching surfaces is a challenging 3D Computer Vision problem typically addressed by local features. Although a variety of 3D feature detectors and descriptors has been proposed in literature, they have seldom been proposed together and it…
Retrieving similar images from a large dataset based on the image content has been a very active research area and is a very challenging task. Studies have shown that retrieving similar images based on their shape is a very effective…