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

Compared to abstract features, significant objects, so-called landmarks, are a more natural means for vehicle localization and navigation, especially in challenging unstructured environments. The major challenge is to recognize landmarks in…

State-of-the-art algorithms for visual place recognition, and related visual navigation systems, can be broadly split into two categories: computer-science-oriented models including deep learning or image retrieval-based techniques with…

Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…

In this work, a deep learning approach has been developed to carry out road detection by fusing LIDAR point clouds and camera images. An unstructured and sparse point cloud is first projected onto the camera image plane and then upsampled…

LiDARs have been widely adopted to modern self-driving vehicles, providing 3D information of the scene and surrounding objects. However, adverser weather conditions still pose significant challenges to LiDARs since point clouds captured…

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention, but ignore their content and fail to establish relationships…

Real-time registration of partially overlapping point clouds has emerging applications in cooperative perception for autonomous vehicles and multi-agent SLAM. The relative translation between point clouds in these applications is higher…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

This paper presents CALM-Net, a curvature-aware LiDAR point cloud-based multi-branch neural network for vehicle re-identification. The proposed model addresses the challenge of learning discriminative and complementary features from…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…

Since scenes are composed in part of objects, accurate recognition of scenes requires knowledge about both scenes and objects. In this paper we address two related problems: 1) scale induced dataset bias in multi-scale convolutional neural…

Scene parsing is challenging as it aims to assign one of the semantic categories to each pixel in scene images. Thus, pixel-level features are desired for scene parsing. However, classification networks are dominated by the discriminative…

3D object detection is an essential vision technique for various robotic systems, such as augmented reality and domestic robots. Transformers as versatile network architectures have recently seen great success in 3D point cloud object…

Fusion of 2D images and 3D point clouds is important because information from dense images can enhance sparse point clouds. However, fusion is challenging because 2D and 3D data live in different spaces. In this work, we propose MVPNet…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

Current feature matching methods focus on point-level matching, pursuing better representation learning of individual features, but lacking further understanding of the scene. This results in significant performance degradation when…

In this paper, we observe two levels of redundancies when applying vision transformers (ViT) for image recognition. First, fixing the number of tokens through the whole network produces redundant features at the spatial level. Second, the…

Deep neural networks have established themselves as the state-of-the-art methodology in almost all computer vision tasks to date. But their application to processing data lying on non-Euclidean domains is still a very active area of…

Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this…

The commonly adopted detect-then-match approach to registration finds difficulties in the cross-modality cases due to the incompatible keypoint detection and inconsistent feature description. We propose, 2D3D-MATR, a detection-free method…