相关论文: Aggregation of binary feature descriptors for comp…

We propose a method for representing motion information for video classification and retrieval. We improve upon local descriptor based methods that have been among the most popular and successful models for representing videos. The desired…

We present a dense simultaneous localization and mapping (SLAM) method that uses 3D Gaussians as a scene representation. Our approach enables interactive-time reconstruction and photo-realistic rendering from real-world single-camera RGBD…

In this paper, we propose a novel binary descriptor for 3D point clouds. The proposed descriptor termed as 3D Binary Signature (3DBS) is motivated from the matching efficiency of the binary descriptors for 2D images. 3DBS describes…

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…

Semantic Segmentation combines two sub-tasks: the identification of pixel-level image masks and the application of semantic labels to those masks. Recently, so-called Foundation Models have been introduced; general models trained on very…

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…

Most approaches to large-scale image retrieval are based on the construction of the inverted index of local image descriptors or visual words. A search in such an index usually results in a large number of candidates. This list of…

This paper introduces a Transformer-based integrative feature and cost aggregation network designed for dense matching tasks. In the context of dense matching, many works benefit from one of two forms of aggregation: feature aggregation,…

Although dense local spatial-temporal features with bag-of-features representation achieve state-of-the-art performance for action recognition, the huge feature number and feature size prevent current methods from scaling up to real size…

We present ESLAM, an efficient implicit neural representation method for Simultaneous Localization and Mapping (SLAM). ESLAM reads RGB-D frames with unknown camera poses in a sequential manner and incrementally reconstructs the scene…

Volumetric models have become a popular representation for 3D scenes in recent years. One of the breakthroughs leading to their popularity was KinectFusion, where the focus is on 3D reconstruction using RGB-D sensors. However, monocular…

The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in Simultaneous Localization and Mapping (SLAM) algorithms.…

This work proposes a novel approach that uses a semantic segmentation mask to obtain a 2D spatial layout of the segmentation-categories across the scene, designated by segmentation-based semantic features (SSFs). These features represent,…

Connecting current observations with prior experiences helps robots adapt and plan in new, unseen 3D environments. Recently, 3D scene analogies have been proposed to connect two 3D scenes, which are smooth maps that align scene regions with…

3D object detection using point clouds has attracted increasing attention due to its wide applications in autonomous driving and robotics. However, most existing studies focus on single point cloud frames without harnessing the temporal…

We present a real-time tracking SLAM system that unifies efficient camera tracking with photorealistic feature-enriched mapping using 3D Gaussian Splatting (3DGS). Our main contribution is integrating dense feature rasterization into the…

Multi-frame methods improve monocular depth estimation over single-frame approaches by aggregating spatial-temporal information via feature matching. However, the spatial-temporal feature leads to accuracy degradation in dynamic scenes. To…

Structure-from-Motion (SfM), a task aiming at jointly recovering camera poses and 3D geometry of a scene given a set of images, remains a hard problem with still many open challenges despite decades of significant progress. The traditional…

Neural field-based SLAM methods typically employ a single, monolithic field as their scene representation. This prevents efficient incorporation of loop closure constraints and limits scalability. To address these shortcomings, we propose a…

We propose an online object-level SLAM system which builds a persistent and accurate 3D graph map of arbitrary reconstructed objects. As an RGB-D camera browses a cluttered indoor scene, Mask-RCNN instance segmentations are used to…