相关论文: CGiS-Net: Aggregating Colour, Geometry and Implici…

Visual place recognition is a challenging task for autonomous driving and robotics, which is usually considered as an image retrieval problem. A commonly used two-stage strategy involves global retrieval followed by re-ranking using…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

Inexpensive RGB-D cameras that give an RGB image together with depth data have become widely available. We use this data to build 3D point clouds of a full scene. In this paper, we address the task of labeling objects in this 3D point cloud…

We present a simple but yet effective method for learning distinctive 3D local deep descriptors (DIPs) that can be used to register point clouds without requiring an initial alignment. Point cloud patches are extracted, canonicalised with…

In the practical application of restoring low-resolution gray-scale images, we generally need to run three separate processes of image colorization, super-resolution, and dows-sampling operation for the target device. However, this pipeline…

Local density of point clouds is crucial for representing local details, but has been overlooked by existing point cloud compression methods. To address this, we propose a novel deep point cloud compression method that preserves local…

Room geometry inference (RGI) aims at estimating room shapes from measured room impulse responses (RIRs) and has received lots of attention for its importance in environment-aware audio rendering and virtual acoustic representation of a…

Unsupervised fine-grained class clustering is a practical yet challenging task due to the difficulty of feature representations learning of subtle object details. We introduce C3-GAN, a method that leverages the categorical inference power…

Depth completion aims to recover dense depth maps from sparse ones, where color images are often used to facilitate this task. Recent depth methods primarily focus on image guided learning frameworks. However, blurry guidance in the image…

To alleviate the cost of collecting and annotating large-scale point cloud datasets, we propose an unsupervised learning approach to learn features from unlabeled point cloud "3D object" dataset by using part contrasting and object…

RGB-D semantic segmentation has attracted increasing attention over the past few years. Existing methods mostly employ homogeneous convolution operators to consume the RGB and depth features, ignoring their intrinsic differences. In fact,…

In recent years, the paradigm of neural implicit representations has gained substantial attention in the field of Simultaneous Localization and Mapping (SLAM). However, a notable gap exists in the existing approaches when it comes to scene…

We present a powerful method to extract per-point semantic class labels from aerialphotogrammetry data. Labeling this kind of data is important for tasks such as environmental modelling, object classification and scene understanding. Unlike…

Large-scale place recognition is a fundamental but challenging task, which plays an increasingly important role in autonomous driving and robotics. Existing methods have achieved acceptable good performance, however, most of them are…

The primary goal of artificial intelligence is to mimic humans. Therefore, to advance toward this goal, the AI community attempts to imitate qualities/skills possessed by humans and imbibes them into machines with the help of…

In feature-learning based point cloud registration, the correct correspondence construction is vital for the subsequent transformation estimation. However, it is still a challenge to extract discriminative features from point cloud,…

Image-to-point cloud registration methods typically follow a coarse-to-fine pipeline, extracting patch-level correspondences and refining them into dense pixel-to-point matches. However, in scenes with repetitive patterns, images often lack…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

LiDAR-based place recognition is an essential and challenging task both in loop closure detection and global relocalization. We propose Deep Scan Context (DSC), a general and discriminative global descriptor that captures the relationship…