相关论文: Joint Point Cloud and Image Based Localization For…

The rise of large-scale models has catalyzed in-context learning as a powerful approach for multitasking, particularly in natural language and image processing. However, its application to 3D point cloud tasks has been largely unexplored.…

Point cloud understanding is an inherently challenging problem because of the sparse and unordered structure of the point cloud in the 3D space. Recently, Contrastive Vision-Language Pre-training (CLIP) based point cloud classification…

Achieving monocular camera localization within pre-built LiDAR maps can bypass the simultaneous mapping process of visual SLAM systems, potentially reducing the computational overhead of autonomous localization. To this end, one of the key…

Collaborative 3D object detection exploits information exchange among multiple agents to enhance accuracy of object detection in presence of sensor impairments such as occlusion. However, in practice, pose estimation errors due to imperfect…

When navigating in urban environments, many of the objects that need to be tracked and avoided are heavily occluded. Planning and tracking using these partial scans can be challenging. The aim of this work is to learn to complete these…

Limited by the performance factor, it is arduous to recognize target object and locate it in Augmented Reality (AR) scenes on low-end mobile devices, especially which using monocular cameras. In this paper, we proposed an algorithm which…

This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…

Single-molecule localization microscopy generates point clouds corresponding to fluorophore localizations. Spatial cluster identification and analysis of these point clouds are crucial for extracting insights about molecular organization.…

Existing position based point cloud filtering methods can hardly preserve sharp geometric features. In this paper, we rethink point cloud filtering from a non-learning non-local non-normal perspective, and propose a novel position based…

Multi-view clustering integrates multiple feature sets, which reveal distinct aspects of the data and provide complementary information to each other, to improve the clustering performance. It remains challenging to effectively exploit…

This paper deals with the development of a localization methodology for autonomous vehicles using only a $3\Dim$ LIDAR sensor. In the context of this paper, localizing a vehicle in a known 3D global map of the environment is essentially to…

For most industrial bin picking solutions, the pose of a workpiece is localized by matching a CAD model to point cloud obtained from 3D sensor. Distinguishing flat workpieces from bottom of the bin in point cloud imposes challenges in the…

Object point cloud classification has drawn great research attention since the release of benchmarking datasets, such as the ModelNet and the ShapeNet. These benchmarks assume point clouds covering complete surfaces of object instances, for…

Mobile robots need to create high-definition 3D maps of the environment for applications such as remote surveillance and infrastructure mapping. Accurate semantic processing of the acquired 3D point cloud is critical for allowing the robot…

The existing localization systems for indoor applications basically rely on wireless signal. With the massive deployment of low-cost cameras, the visual image based localization become attractive as well. However, in the existing…

In robotics perception, numerous tasks rely on point cloud registration. However, currently there is no method that can automatically detect misaligned point clouds reliably and without environment-specific parameters. We propose "CorAl",…

Mapping and 3D detection are two major issues in vision-based robotics, and self-driving. While previous works only focus on each task separately, we present an innovative and efficient multi-task deep learning framework (SM3D) for…

Accurate camera localization is crucial for robotics and Extended Reality (XR), enabling reliable navigation and alignment of virtual and real content. Existing visual methods often suffer from drift, scale ambiguity, and depend on…

With increasing attention paid to blimp research, I hope to build an indoor blimp to interact with humans. To begin with, I propose developing a visual localization system to enable blimps to localize themselves in an indoor environment…

Camera-based 3D object detection and tracking are central to autonomous driving, yet precise 3D object localization remains fundamentally constrained by depth ambiguity when no expensive, depth-rich online LiDAR is available at inference.…