相关论文: You Only Hypothesize Once: Point Cloud Registratio…

Despite the recent active research on processing point clouds with deep networks, few attention has been on the sensitivity of the networks to rotations. In this paper, we propose a deep learning architecture that achieves discrete…

This article presents a mathematical framework to simultaneously tackle the problems of 3D reconstruction, pose estimation and object classification, from a single 2D image. In sharp contrast with state of the art methods that rely…

Previous top-performing approaches for point cloud instance segmentation involve a bottom-up strategy, which often includes inefficient operations or complex pipelines, such as grouping over-segmented components, introducing additional…

Existing Real-Time Object Detection (RTOD) methods commonly adopt YOLO-like architectures for their favorable trade-off between accuracy and speed. However, these models rely on static dense computation that applies uniform processing to…

Correspondence search is an essential step in rigid point cloud registration algorithms. Most methods maintain a single correspondence at each step and gradually remove wrong correspondances. However, building one-to-one correspondence with…

We propose a new framework that formulates point cloud registration as a denoising diffusion process from noisy transformation to object transformation. During training stage, object transformation diffuses from ground-truth transformation…

We introduce AnytimeYOLO, a family of variants of the YOLO architecture that enables anytime object detection. Our AnytimeYOLO networks allow for interruptible inference, i.e., they provide a prediction at any point in time, a property…

Recent research leveraging large-scale pretrained diffusion models has demonstrated the potential of using diffusion features to establish semantic correspondences in images. Inspired by advancements in diffusion-based techniques, we…

In this work, we present a novel method called WSDesc to learn 3D local descriptors in a weakly supervised manner for robust point cloud registration. Our work builds upon recent 3D CNN-based descriptor extractors, which leverage a…

Object point cloud classification has drawn great research attention since the release of benchmarking datasets, such as the ModelNet and the ShapeNet. These benchmarks assume point clouds covering complete surfaces of object instances, for…

3D vision foundation models have shown strong generalization in reconstructing key 3D attributes from uncalibrated images through a single feed-forward pass. However, when deployed in online settings such as driving scenarios, predictions…

In robotic inspection, joint registration of multiple point clouds is an essential technique for estimating the transformation relationships between measured parts, such as multiple blades in a propeller. However, the presence of noise and…

Feature Descriptors and Detectors are two main components of feature-based point cloud registration. However, little attention has been drawn to the explicit representation of local and global semantics in the learning of descriptors and…

We present CPO, a fast and robust algorithm that localizes a 2D panorama with respect to a 3D point cloud of a scene possibly containing changes. To robustly handle scene changes, our approach deviates from conventional feature point…

We propose a local-to-global representation learning algorithm for 3D point cloud data, which is appropriate to handle various geometric transformations, especially rotation, without explicit data augmentation with respect to the…

Domain shift is a major challenge for object detectors to generalize well to real world applications. Emerging techniques of domain adaptation for two-stage detectors help to tackle this problem. However, two-stage detectors are not the…

Visual Place Recognition (VPR) enables coarse localization by comparing query images to a reference database of geo-tagged images. Recent breakthroughs in deep learning architectures and training regimes have led to methods with improved…

Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…

As the development of 3D sensors, registration of 3D data (e.g. point cloud) coming from different kind of sensor is dispensable and shows great demanding. However, point cloud registration between different sensors is challenging because…

Automatically localizing a position based on a few natural language instructions is essential for future robots to communicate and collaborate with humans. To approach this goal, we focus on the text-to-point-cloud cross-modal localization…