相关论文: Sphere2Vec: Multi-Scale Representation Learning ov…

In this paper, we propose a robust end-to-end multi-modal pipeline for place recognition where the sensor systems can differ from the map building to the query. Our approach operates directly on images and LiDAR scans without requiring any…

The key idea of variational auto-encoders (VAEs) resembles that of traditional auto-encoder models in which spatial information is supposed to be explicitly encoded in the latent space. However, the latent variables in VAEs are vectors,…

Bird's-eye-view (BEV) is a powerful and widely adopted representation for road scenes that captures surrounding objects and their spatial locations, along with overall context in the scene. In this work, we focus on bird's eye semantic…

Reliable depth estimation from spherical images is crucial for 360{\deg} vision in robotic navigation and immersive scene understanding. However, the onboard spherical camera can experience unintentional pose variations in real-world…

The parameters estimation of a system using indirect measurements over the same system is a problem that occurs in many fields of engineering, known as the inverse problem. It also happens in the field of underwater acoustic, especially in…

Sparse coding (Sc) has been studied very well as a powerful data representation method. It attempts to represent the feature vector of a data sample by reconstructing it as the sparse linear combination of some basic elements, and a $L_2$…

We present a method to map 2D image observations of a scene to a persistent 3D scene representation, enabling novel view synthesis and disentangled representation of the movable and immovable components of the scene. Motivated by the…

We present a new deep learning approach for matching deformable shapes by introducing {\it Shape Deformation Networks} which jointly encode 3D shapes and correspondences. This is achieved by factoring the surface representation into (i) a…

Recently, the topic of graph representation learning has received plenty of attention. Existing approaches usually focus on structural properties only and thus they are not sufficient for those spatial graphs where the nodes are associated…

The question of representation of 3D geometry is of vital importance when it comes to leveraging the recent advances in the field of machine learning for geometry processing tasks. For common unstructured surface meshes state-of-the-art…

Monocular 3D Semantic Scene Completion (SSC) has garnered significant attention in recent years due to its potential to predict complex semantics and geometry shapes from a single image, requiring no 3D inputs. In this paper, we identify…

Accurately recognizing a revisited place is crucial for embodied agents to localize and navigate. This requires visual representations to be distinct, despite strong variations in camera viewpoint and scene appearance. Existing visual place…

Surface crack segmentation poses a challenging computer vision task as background, shape, colour and size of cracks vary. In this work we propose optimized deep encoder-decoder methods consisting of a combination of techniques which yield…

Sparse representations have been successfully applied to signal processing, computer vision and machine learning. Currently there is a trend to learn sparse models directly on structure data, such as region covariance. However, such methods…

Geospatial analysis lacks methods like the word vector representations and pre-trained networks that significantly boost performance across a wide range of natural language and computer vision tasks. To fill this gap, we introduce Tile2Vec,…

Hyperdimensional computing (HDC) is an emerging computing paradigm that imitates the brain's structure to offer a powerful and efficient processing and learning model. In HDC, the data are encoded with long vectors, called hypervectors,…

Besides local features, global information plays an essential role in semantic segmentation, while recent works usually fail to explicitly extract the meaningful global information and make full use of it. In this paper, we propose a…

A key challenge in robot manipulation lies in developing policy models with strong spatial understanding, the ability to reason about 3D geometry, object relations, and robot embodiment. Existing methods often fall short: 3D point cloud…

Mesh models are a promising approach for encoding the structure of 3D objects. Current mesh reconstruction systems predict uniformly distributed vertex locations of a predetermined graph through a series of graph convolutions, leading to…

Transformer-based methods have swept the benchmarks on 2D and 3D detection on images. Because tokenization before the attention mechanism drops the spatial information, positional encoding becomes critical for those methods. Recent works…