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

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…

LiDAR-camera fusion can enhance the performance of 3D object detection by utilizing complementary information between depth-aware LiDAR points and semantically rich images. Existing voxel-based methods face significant challenges when…

Matching 3D rigid point clouds in complex environments robustly and accurately is still a core technique used in many applications. This paper proposes a new architecture combining error estimation from sample covariances and dual global…

During the past decades, to study high-dimensional data in a large variety of problems, researchers have proposed many Feature Extraction algorithms. One of the most effective approaches for optimal feature extraction is based on mutual…

Pose estimation purely based on 3D point-cloud could suffer from degradation, e.g. scan blocks or scans in repetitive environments. To deal with this problem, we propose an approach for fusing 3D spinning LiDAR and IMU to estimate the…

In this paper, we propose a two-stage fully 3D network, namely \textbf{DeepFuse}, to estimate human pose in 3D space by fusing body-worn Inertial Measurement Unit (IMU) data and multi-view images deeply. The first stage is designed for pure…

Deploying depth estimation networks in the real world requires high-level robustness against various adverse conditions to ensure safe and reliable autonomy. For this purpose, many autonomous vehicles employ multi-modal sensor systems,…

Sensing the medical scenario can ensure the safety during the surgical operations. So, in this regard, a monitor platform which can obtain the accurate location information of the surgery room is desperately needed. Compared to 2D camera…

In this paper, we propose an efficient method for robust 3D self-portraits using a single RGBD camera. Benefiting from the proposed PIFusion and lightweight bundle adjustment algorithm, our method can generate detailed 3D self-portraits in…

In this paper, we propose a fast extrinsic calibration method for fusing multiple inertial measurement units (MIMU) to improve visual-inertial odometry (VIO) localization accuracy. Currently, data fusion algorithms for MIMU highly depend on…

An accurate and computationally efficient SLAM algorithm is vital for modern autonomous vehicles. To make a lightweight the algorithm, most SLAM systems rely on feature detection from images for vision SLAM or point cloud for laser-based…

We propose a new algorithm to compute the X-ray transform of an image represented by unit (pixel/voxel) basis functions. The fundamental issue is equivalently calculating the intersection lengths of the ray with associated units. For any…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While most prevalent methods progressively downscale the 3D point clouds and camera images and then fuse the high-level…

Reliably and physically accurately transferring information between images through deformable image registration with large anatomical differences is an open challenge in medical image analysis. Most existing methods have two key…

Scene flow estimation aims to generate the 3D motion field of points between two consecutive frames of point clouds, which has wide applications in various fields. Existing point-based methods ignore the irregularity of point clouds and…

Feature alignment serves as the primary mechanism for fusing multimodal data. We put forth a feature alignment approach that achieves full integration of multimodal information. This is accomplished via an alternating process of shifting…

Current RGB-based 6D object pose estimation methods have achieved noticeable performance on datasets and real world applications. However, predicting 6D pose from single 2D image features is susceptible to disturbance from changing of…

We present a new paradigm for rigid alignment between point clouds based on learnable weighted consensus which is robust to noise as well as the full spectrum of the rotation group. Current models, learnable or axiomatic, work well for…

Multimodal AI systems are evaluated by downstream task accuracy, but high accuracy does not mean the underlying data is coherent. A model can score well on Visual Question Answering (VQA) while its inputs contradict each other. We introduce…

Applications that interact with the real world such as augmented reality or robot manipulation require a good understanding of the location and pose of the surrounding objects. In this paper, we present a new approach to estimate the 6…