相关论文: Robust and Fast 3D Scan Alignment using Mutual Inf…

Image fusion is to reduce uncertainty and minimize redundancy in the output while maximizing relevant information from two or more images of a scene into a single composite image that is more informative and is more suitable for visual…

Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

Reconstruction of geometric structures from images using supervised learning suffers from limited available amount of accurate data. One type of such data is accurate real-world RGB-D images. A major challenge in acquiring such ground truth…

Rigid registration of multi-view and multi-platform LiDAR scans is a fundamental problem in 3D mapping, robotic navigation, and large-scale urban modeling applications. Data acquisition with LiDAR sensors involves scanning multiple areas…

We present a new technique that achieves a significant reduction in the quantity of measurements required for a fusion based dense 3D mapping system to converge to an accurate, de-noised surface reconstruction. This is achieved through the…

Point cloud registration is the task of estimating the rigid transformation that aligns a pair of point cloud fragments. We present an efficient and robust framework for pairwise registration of real-world 3D scans, leveraging Hough voting…

We propose a new approach for 3D instance segmentation based on sparse convolution and point affinity prediction, which indicates the likelihood of two points belonging to the same instance. The proposed network, built upon submanifold…

We present a system for multi-level scene awareness for robotic manipulation. Given a sequence of camera-in-hand RGB images, the system calculates three types of information: 1) a point cloud representation of all the surfaces in the scene,…

We address the task of aligning CAD models to a video sequence of a complex scene containing multiple objects. Our method can process arbitrary videos and fully automatically recover the 9 DoF pose for each object appearing in it, thus…

Camera and LiDAR sensor modalities provide complementary appearance and geometric information useful for detecting 3D objects for autonomous vehicle applications. However, current end-to-end fusion methods are challenging to train and…

In this work, we propose a novel two-stage framework for the efficient 3D point cloud object detection. Instead of transforming point clouds into 2D bird eye view projections, we parse the raw point cloud data directly in the 3D space yet…

LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with…

In this paper, we propose a novel learning-based pipeline for partially overlapping 3D point cloud registration. The proposed model includes an iterative distance-aware similarity matrix convolution module to incorporate information from…

Mutual information (MI) is a principled and widely used objective for robotic information gathering (RIG), providing strong theoretical guarantees for sensor placement (SP) and informative path planning (IPP). However, its high…

In this paper, we introduce a novel approach for efficiently estimating the 6-Degree-of-Freedom (DoF) robot pose with a decoupled, non-iterative method that capitalizes on overlapping planar elements. Conventional RGB-D visual…

This research tackles the challenge of real-time active view selection and uncertainty quantification on visual quality for active 3D reconstruction. Visual quality is a critical aspect of 3D reconstruction. Recent advancements such as…

As a critical task in autonomous driving perception systems, 3D object detection is used to identify and track key objects, such as vehicles and pedestrians. However, detecting distant, small, or occluded objects (hard instances) remains a…

Image registration is a key operation in medical image processing, allowing a plethora of applications. Mutual information (MI) is consolidated as a robust similarity metric often used for medical image registration. Although MI provides a…

Multi-modal methods based on camera and LiDAR sensors have garnered significant attention in the field of 3D detection. However, many prevalent works focus on single or partial stage fusion, leading to insufficient feature extraction and…