相关论文: LCD: Learned Cross-Domain Descriptors for 2D-3D Ma…

In this paper, we propose a simple model referred as Contradistinguisher (CTDR) for unsupervised domain adaptation whose objective is to jointly learn to contradistinguish on unlabeled target domain in a fully unsupervised manner along with…

Deep-learning models for 3D point cloud semantic segmentation exhibit limited generalization capabilities when trained and tested on data captured with different sensors or in varying environments due to domain shift. Domain adaptation…

In this paper, we propose an end-to-end framework that jointly learns keypoint detection, descriptor representation and cross-frame matching for the task of image-based 3D localization. Prior art has tackled each of these components…

We study an important, yet largely unexplored problem of large-scale cross-modal visual localization by matching ground RGB images to a geo-referenced aerial LIDAR 3D point cloud (rendered as depth images). Prior works were demonstrated on…

Local feature extraction remains an active research area due to the advances in fields such as SLAM, 3D reconstructions, or AR applications. The success in these applications relies on the performance of the feature detector and descriptor.…

Training (source) domain bias affects state-of-the-art object detectors, such as Faster R-CNN, when applied to new (target) domains. To alleviate this problem, researchers proposed various domain adaptation methods to improve object…

Retrieval-based place recognition is an efficient and effective solution for re-localization within a pre-built map, or global data association for Simultaneous Localization and Mapping (SLAM). The accuracy of such an approach is heavily…

Change detection is one of the most active research areas in Remote Sensing (RS). Most of the recently developed change detection methods are based on deep learning (DL) algorithms. This kind of algorithms is generally focused on generating…

Sparse keypoint matching based on distinct 3D feature representations can improve the efficiency and robustness of point cloud registration. Existing learning-based 3D descriptors and keypoint detectors are either independent or loosely…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

We address a core problem of computer vision: Detection and description of 2D feature points for image matching. For a long time, hand-crafted designs, like the seminal SIFT algorithm, were unsurpassed in accuracy and efficiency. Recently,…

When classifying point clouds, a large amount of time is devoted to the process of engineering a reliable set of features which are then passed to a classifier of choice. Generally, such features - usually derived from the 3D-covariance…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

In this paper, we propose a self-supervised learningmethod for multi-object pose estimation. 3D object under-standing from 2D image is a challenging task that infers ad-ditional dimension from reduced-dimensional information.In particular,…

We propose a convolutional neural network (ConvNet) based approach for learning local image descriptors which can be used for significantly improved patch matching and 3D reconstructions. A multi-resolution ConvNet is used for learning…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

Lidar datasets are becoming more and more common. They are appreciated for their precise 3D nature, and have a wide range of applications, such as surface reconstruction, object detection, visualisation, etc. For all this applications,…

Modern learning-based visual feature extraction networks perform well in intra-domain localization, however, their performance significantly declines when image pairs are captured across long-term visual domain variations, such as different…

In this paper, we introduce a novel unsupervised domain adaptation technique for the task of 3D keypoint prediction from a single depth scan or image. Our key idea is to utilize the fact that predictions from different views of the same or…

We present CrossLoc3D, a novel 3D place recognition method that solves a large-scale point matching problem in a cross-source setting. Cross-source point cloud data corresponds to point sets captured by depth sensors with different…