相关论文: LRF-Net: Learning Local Reference Frames for 3D Lo…

Robust and efficient local feature matching plays a crucial role in applications such as SLAM and visual localization for robotics. Despite great progress, it is still very challenging to extract robust and discriminative visual features in…

We present a simple yet powerful neural network that implicitly represents and renders 3D objects and scenes only from 2D observations. The network models 3D geometries as a general radiance field, which takes a set of 2D images with camera…

Learning local descriptors is an important problem in computer vision. While there are many techniques for learning local patch descriptors for 2D images, recently efforts have been made for learning local descriptors for 3D points. The…

We present a novel learning-based approach for computing correspondences between non-rigid 3D shapes. Unlike previous methods that either require extensive training data or operate on handcrafted input descriptors and thus generalize poorly…

In this work, we present a method for landmark retrieval that utilizes global and local features. A Siamese network is used for global feature extraction and metric learning, which gives an initial ranking of the landmark search. We utilize…

We present PPFNet - Point Pair Feature NETwork for deeply learning a globally informed 3D local feature descriptor to find correspondences in unorganized point clouds. PPFNet learns local descriptors on pure geometry and is highly aware of…

Siamese network based trackers formulate 3D single object tracking as cross-correlation learning between point features of a template and a search area. Due to the large appearance variation between the template and search area during…

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…

We tackle the problem of finding accurate and robust keypoint correspondences between images. We propose a learning-based approach to guide local feature matches via a learned approximate image matching. Our approach can boost the results…

We present a novel deep architecture and a training strategy to learn a local feature pipeline from scratch, using collections of images without the need for human supervision. To do so we exploit depth and relative camera pose cues to…

For relocalization in large-scale point clouds, we propose the first approach that unifies global place recognition and local 6DoF pose refinement. To this end, we design a Siamese network that jointly learns 3D local feature detection and…

Local feature extraction is a standard approach in computer vision for tackling important tasks such as image matching and retrieval. The core assumption of most methods is that images undergo affine transformations, disregarding more…

This paper presents a simple yet very effective data-driven approach to fuse both low-level and high-level local geometric features for 3D rigid data matching. It is a common practice to generate distinctive geometric descriptors by fusing…

We propose the first Large Reconstruction Model (LRM) that predicts the 3D model of an object from a single input image within just 5 seconds. In contrast to many previous methods that are trained on small-scale datasets such as ShapeNet in…

Recent studies of two-view correspondence learning usually establish an end-to-end network to jointly predict correspondence reliability and relative pose. We improve such a framework from two aspects. First, we propose a Local Feature…

We present an approach to learning features that represent the local geometry around a point in an unstructured point cloud. Such features play a central role in geometric registration, which supports diverse applications in robotics and 3D…

Matching local geometric features on real-world depth images is a challenging task due to the noisy, low-resolution, and incomplete nature of 3D scan data. These difficulties limit the performance of current state-of-art methods, which are…

The use of local detectors and descriptors in typical computer vision pipelines work well until variations in viewpoint and appearance change become extreme. Past research in this area has typically focused on one of two approaches to this…

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…

Global place recognition and 3D relocalization are one of the most important components in the loop closing detection for 3D LiDAR Simultaneous Localization and Mapping (SLAM). In order to find the accurate global 6-DoF transform by feature…