相关论文: RGB2LIDAR: Towards Solving Large-Scale Cross-Modal…

We present a dataset of large-scale indoor spaces that provides a variety of mutually registered modalities from 2D, 2.5D and 3D domains, with instance-level semantic and geometric annotations. The dataset covers over 6,000m2 and contains…

Constructing a point cloud for a large geographic region, such as a state or country, can require multiple years of effort. Often several vendors will be used to acquire LiDAR data, and a single region may be captured by multiple LiDAR…

Ensuring accurate localization of robots in environments without GPS capability is a challenging task. Visual Place Recognition (VPR) techniques can potentially achieve this goal, but existing RGB-based methods are sensitive to changes in…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

Point cloud registration is a fundamental task in 3D vision. Most existing methods only use geometric information for registration. Recently proposed RGB-D registration methods primarily focus on feature fusion or improving feature…

Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…

While LiDAR sensors have been successfully applied to 3D object detection, the affordability of radar and camera sensors has led to a growing interest in fusing radars and cameras for 3D object detection. However, previous radar-camera…

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…

In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…

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…

Point-, voxel-, and range-views are three representative forms of point clouds. All of them have accurate 3D measurements but lack color and texture information. RGB images are a natural complement to these point cloud views and fully…

LiDAR and camera are two essential sensors for 3D object detection in autonomous driving. LiDAR provides accurate and reliable 3D geometry information while the camera provides rich texture with color. Despite the increasing popularity of…

In recent times, the scope of LIDAR (Light Detection and Ranging) sensor-based technology has spread across numerous fields. It is popularly used to map terrain and navigation information into reliable 3D point cloud data, potentially…

We propose a methodology for lidar super-resolution with ground vehicles driving on roadways, which relies completely on a driving simulator to enhance, via deep learning, the apparent resolution of a physical lidar. To increase the…

An accurate and robust large-scale localization system is an integral component for active areas of research such as autonomous vehicles and augmented reality. To this end, many learning algorithms have been proposed that predict 6DOF…

Visual localization is the task of estimating a 6-DoF camera pose of a query image within a provided 3D reference map. Thanks to recent advances in various 3D sensors, 3D point clouds are becoming a more accurate and affordable option for…

Current research on visual place recognition mostly focuses on aggregating local visual features of an image into a single vector representation. Therefore, high-level information such as the geometric arrangement of the features is…

Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…

Cross-lingual cross-modal retrieval has garnered increasing attention recently, which aims to achieve the alignment between vision and target language (V-T) without using any annotated V-T data pairs. Current methods employ machine…

Access to large, diverse RGB-D datasets is critical for training RGB-D scene understanding algorithms. However, existing datasets still cover only a limited number of views or a restricted scale of spaces. In this paper, we introduce…