相关论文: Using Curvilinear Features in Focus for Registerin…

3D pose estimation from a single 2D image is an important and challenging task in computer vision with applications in autonomous driving, robot manipulation and augmented reality. Since 3D pose is a continuous quantity, a natural…

In this work, we present a conceptually simple yet effective framework for cross-modality 3D object detection, named voxel field fusion. The proposed approach aims to maintain cross-modality consistency by representing and fusing augmented…

Image segmentation is to extract meaningful objects from a given image. For degraded images due to occlusions, obscurities or noises, the accuracy of the segmentation result can be severely affected. To alleviate this problem, prior…

In this work, we propose a method for object recognition and pose estimation from depth images using convolutional neural networks. Previous methods addressing this problem rely on manifold learning to learn low dimensional viewpoint…

In this paper, we propose a novel 3D registration paradigm, Generative Point Cloud Registration, which bridges advanced 2D generative models with 3D matching tasks to enhance registration performance. Our key idea is to generate cross-view…

Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on…

LiDAR registration is a fundamental task in robotic mapping and localization. A critical component of aligning two point clouds is identifying robust point correspondences using point descriptors. This step becomes particularly challenging…

Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…

Leveraging multi-modal fusion, especially between camera and LiDAR, has become essential for building accurate and robust 3D object detection systems for autonomous vehicles. Until recently, point decorating approaches, in which point…

2D to 3D registration is essential in tasks such as diagnosis, surgical navigation, environmental understanding, navigation in robotics, autonomous systems, or augmented reality. In medical imaging, the aim is often to place a 2D image in a…

Current CNN-based algorithms for recovering the 3D pose of an object in an image assume knowledge about both the object category and its 2D localization in the image. In this paper, we relax one of these constraints and propose to solve the…

We introduce CenDerNet, a framework for 6D pose estimation from multi-view images based on center and curvature representations. Finding precise poses for reflective, textureless objects is a key challenge for industrial robotics. Our…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

Multi-view point cloud registration is a hot topic in the communities of multimedia technology and artificial intelligence (AI). In this paper, we propose a framework to reconstruct the 3D models by the multi-view point cloud registration…

We propose a novel concept to directly match feature descriptors extracted from RGB images, with feature descriptors extracted from 3D point clouds. We use this concept to localize the position and orientation (pose) of the camera of a…

Detecting objects and estimating their pose remains as one of the major challenges of the computer vision research community. There exists a compromise between localizing the objects and estimating their viewpoints. The detector ideally…

Foundation models are vital tools in various Computer Vision applications. They take as input a single RGB image and output a deep feature representation that is useful for various applications. However, in case we have multiple views of…

Thanks to the complementary nature of millimeter wave radar and camera, deep learning-based radar-camera 3D object detection methods may reliably produce accurate detections even in low-visibility conditions. This makes them preferable to…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

Advances in deep learning recognition have led to accurate object detection with 2D images. However, these 2D perception methods are insufficient for complete 3D world information. Concurrently, advanced 3D shape estimation approaches focus…