相关论文: PICCOLO: Point Cloud-Centric Omnidirectional Local…

Good quality reconstruction and comprehension of a scene rely on 3D estimation methods. The 3D information was usually obtained from images by stereo-photogrammetry, but deep learning has recently provided us with excellent results for…

Instance-level image retrieval aims to find images containing the same object as a given query, despite variations in size, position, or appearance. To address this challenging task, we propose Patchify, a simple yet effective patch-wise…

Implicit neural networks have been successfully used for surface reconstruction from point clouds. However, many of them face scalability issues as they encode the isosurface function of a whole object or scene into a single latent vector.…

Recent years have witnessed the surge of learned representations that directly build upon point clouds. Though becoming increasingly expressive, most existing representations still struggle to generate ordered point sets. Inspired by…

In this paper, we address the inverse problem of reconstructing a scene as well as the camera motion from the image sequence taken by an omni-directional camera. Our structure from motion results give sharp conditions under which the…

Omnidirectional depth estimation has received much attention from researchers in recent years. However, challenges arise due to camera soiling and variations in camera layouts, affecting the robustness and flexibility of the algorithm. In…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

Recently, 3D point cloud classification has made significant progress with the help of many datasets. However, these datasets do not reflect the incomplete nature of real-world point clouds caused by occlusion, which limits the practical…

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…

In this paper, we present Point Cloud Color Constancy, in short PCCC, an illumination chromaticity estimation algorithm exploiting a point cloud. We leverage the depth information captured by the time-of-flight (ToF) sensor mounted rigidly…

In this paper, we propose a pipeline to generate 3D point cloud of an object from a single-view RGB image. Most previous work predict the 3D point coordinates from single RGB images directly. We decompose this problem into depth estimation…

Object-level SLAM offers structured and semantically meaningful environment representations, making it more interpretable and suitable for high-level robotic tasks. However, most existing approaches rely on RGB-D sensors or monocular views,…

This study proposes a privacy-preserving Visual SLAM framework for estimating camera poses and performing bundle adjustment with mixed line and point clouds in real time. Previous studies have proposed localization methods to estimate a…

Single-view point cloud completion aims to recover the full geometry of an object based on only limited observation, which is extremely hard due to the data sparsity and occlusion. The core challenge is to generate plausible geometries to…

3D point cloud (PC) -- a collection of discrete geometric samples of a physical object's surface -- is typically large in size, which entails expensive subsequent operations like viewpoint image rendering and object recognition. Leveraging…

The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures. However, state-of-the-art visual…

The universality of the point cloud format enables many 3D applications, making the compression of point clouds a critical phase in practice. Sampled as discrete 3D points, a point cloud approximates 2D surface(s) embedded in 3D with a…

In this paper, we propose a monocular 3D object detection framework in the domain of autonomous driving. Unlike previous image-based methods which focus on RGB feature extracted from 2D images, our method solves this problem in the…

Visual localization is the problem of estimating the camera pose of a given image with respect to a known scene. Visual localization algorithms are a fundamental building block in advanced computer vision applications, including Mixed and…

Robust robot localization is an important prerequisite for navigation, but it becomes challenging when the map and robot measurements are obtained from different sensors. Prior methods are often tailored to specific environments, relying on…