相关论文: RPR-Net: A Point Cloud-based Rotation-aware Large …

We propose a Convolutional Neural Network (CNN)-based model "RotationNet," which takes multi-view images of an object as input and jointly estimates its pose and object category. Unlike previous approaches that use known viewpoint labels…

Recent advances in self-supervised learning (SSL) for point clouds have substantially improved 3D scene understanding without human annotations. Existing approaches emphasize semantic awareness by enforcing feature consistency across…

Place recognition is a cornerstone of vehicle navigation and mapping, which is pivotal in enabling systems to determine whether a location has been previously visited. This capability is critical for tasks such as loop closure in…

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…

Research in point cloud analysis with deep neural networks has made rapid progress in recent years. The pioneering work PointNet offered a direct analysis of point clouds. However, due to its architecture PointNet is not able to capture…

In vision-based robot localization and SLAM, Visual Place Recognition (VPR) is essential. This paper addresses the problem of VPR, which involves accurately recognizing the location corresponding to a given query image. A popular approach…

Place recognition is one of the hot research fields in automation technology and is still an open issue, Camera and Lidar are two mainstream sensors used in this task, Camera-based methods are easily affected by illumination and season…

Unlike images which are represented in regular dense grids, 3D point clouds are irregular and unordered, hence applying convolution on them can be difficult. In this paper, we extend the dynamic filter to a new convolution operation, named…

Point-cloud is an efficient way to represent 3D world. Analysis of point-cloud deals with understanding the underlying 3D geometric structure. But due to the lack of smooth topology, and hence the lack of neighborhood structure, standard…

In this work, we propose a novel framework named Region-Aware Network (RANet), which learns the ability of anti-confusing in case of heavy occlusion, nearby person and symmetric appearance, for human pose estimation. Specifically, the…

Point set registration is defined as a process to determine the spatial transformation from the source point set to the target one. Existing methods often iteratively search for the optimal geometric transformation to register a given pair…

Place recognition, an algorithm to recognize the re-visited places, plays the role of back-end optimization trigger in a full SLAM system. Many works equipped with deep learning tools, such as MLP, CNN, and transformer, have achieved great…

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…

Visual place recognition (VPR) is a highly challenging task that has a wide range of applications, including robot navigation and self-driving vehicles. VPR is particularly difficult due to the presence of duplicate regions and the lack of…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Real-world point clouds usually suffer from incompleteness and display different poses. While current point cloud completion methods excel in reproducing complete point clouds with consistent poses as seen in the training set, their…

In autonomous navigation systems, the solution of the place recognition problem is crucial for their safe functioning. But this is not a trivial solution, since it must be accurate regardless of any changes in the scene, such as seasonal…

3D point cloud is an efficient and flexible representation of 3D structures. Recently, neural networks operating on point clouds have shown superior performance on 3D understanding tasks such as shape classification and part segmentation.…

The success of deep learning methods led to significant breakthroughs in 3-D point cloud processing tasks with applications in remote sensing. Existing methods utilize convolutions that have some limitations, as they assume a uniform input…

Point cloud registration plays a critical role in a multitude of computer vision tasks, such as pose estimation and 3D localization. Recently, a plethora of deep learning methods were formulated that aim to tackle this problem. Most of…