相关论文: PIC-Net: Point Cloud and Image Collaboration Netwo…

Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed,…

Long-term visual localization is an essential problem in robotics and computer vision, but remains challenging due to the environmental appearance changes caused by lighting and seasons. While many existing works have attempted to solve it…

As human-machine interaction continues to evolve, the capacity for environmental perception is becoming increasingly crucial. Integrating the two most common types of sensory data, images, and point clouds, can enhance detection accuracy.…

In recent years, various applications in computer vision have achieved substantial progress based on deep learning, which has been widely used for image fusion and shown to achieve adequate performance. However, suffering from limited…

In autonomous driving, 3D object detection based on multi-modal data has become an indispensable approach when facing complex environments around the vehicle. During multi-modal detection, LiDAR and camera are simultaneously applied for…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

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.…

Research connecting text and images has recently seen several breakthroughs, with models like CLIP, DALL-E 2, and Stable Diffusion. However, the connection between text and other visual modalities, such as lidar data, has received less…

LiDAR-based place recognition is an essential and challenging task both in loop closure detection and global relocalization. We propose Deep Scan Context (DSC), a general and discriminative global descriptor that captures the relationship…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

In this paper, we aim at addressing two critical issues in the 3D detection task, including the exploitation of multiple sensors~(namely LiDAR point cloud and camera image), as well as the inconsistency between the localization and…

Point Cloud-based Place Recognition (PCPR) demonstrates considerable potential in applications such as autonomous driving, robot localization and navigation, and map update. In practical applications, point clouds used for place recognition…

3D point cloud segmentation has a wide range of applications in areas such as autonomous driving, augmented reality, virtual reality and digital twins. The point cloud data collected in real scenes often contain small objects and categories…

Object re-identification (ReID) from images plays a critical role in application domains of image retrieval (surveillance, retail analytics, etc.) and multi-object tracking (autonomous driving, robotics, etc.). However, systems that…

The primary requirement for cross-modal data fusion is the precise alignment of data from different sensors. However, the calibration between LiDAR point clouds and camera images is typically time-consuming and needs external calibration…

LiDAR-based place recognition is one of the key components of SLAM and global localization in autonomous vehicles and robotics applications. With the success of DL approaches in learning useful information from 3D LiDARs, place recognition…

Place recognition is a challenging task in computer vision, crucial for enabling autonomous vehicles and robots to navigate previously visited environments. While significant progress has been made in learnable multimodal methods that…

We present a novel attention-based mechanism to learn enhanced point features for point cloud processing tasks, e.g., classification and segmentation. Unlike prior works, which were trained to optimize the weights of a pre-selected set of…

Place recognition is an important technique for autonomous cars to achieve full autonomy since it can provide an initial guess to online localization algorithms. Although current methods based on images or point clouds have achieved…

Camera and lidar are important sensor modalities for robotics in general and self-driving cars in particular. The sensors provide complementary information offering an opportunity for tight sensor-fusion. Surprisingly, lidar-only methods…