相关论文: HiTPR: Hierarchical Transformer for Place Recognit…

Gait recognition is a biometric technique that identifies individuals by their unique walking styles, which is suitable for unconstrained environments and has a wide range of applications. While current methods focus on exploiting body…

Point cloud-based large scale place recognition is fundamental for many applications like Simultaneous Localization and Mapping (SLAM). Although many models have been proposed and have achieved good performance by learning short-range local…

Point cloud segmentation is one of the most important tasks in computer vision with widespread scientific, industrial, and commercial applications. The research thereof has resulted in many breakthroughs in 3D object and scene…

The pre-trained point cloud model based on Masked Point Modeling (MPM) has exhibited substantial improvements across various tasks. However, two drawbacks hinder their practical application. Firstly, the positional embedding of masked…

While several convolution-like operators have recently been proposed for extracting features out of point clouds, down-sampling an unordered point cloud in a deep neural network has not been rigorously studied. Existing methods down-sample…

Recent advances in deep learning have improved 3D point cloud registration but increased graphics processing unit (GPU) memory usage, often requiring preliminary sampling that reduces accuracy. We propose an overlapping region sampling…

Place recognition is a key module in robotic navigation. The existing line of studies mostly focuses on visual place recognition to recognize previously visited places solely based on their appearance. In this paper, we address structural…

Robust imitation learning for robot manipulation requires comprehensive 3D perception, yet many existing methods struggle in cluttered environments. Fixed camera view approaches are vulnerable to perspective changes, and 3D point cloud…

Machine learning models for molecular property prediction generally rely on representations -- such as SMILES strings and molecular graphs -- that overlook the surface-local phenomena driving intermolecular behavior. 3D-based approaches…

Visual place recognition is a challenging task in the field of computer vision, and autonomous robotics and vehicles, which aims to identify a location or a place from visual inputs. Contemporary methods in visual place recognition employ…

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

The Transformer-based detectors (i.e., DETR) have demonstrated impressive performance on end-to-end object detection. However, transferring DETR to different data distributions may lead to a significant performance degradation. Existing…

Most existing learning-based point cloud descriptors for point cloud registration focus on perceiving local information of point clouds to generate distinctive features. However, a reasonable and broader receptive field is essential for…

Single Object Tracking in LiDAR point cloud is one of the most essential parts of environmental perception, in which small objects are inevitable in real-world scenarios and will bring a significant barrier to the accurate location.…

The performance of 3D object detection models over point clouds highly depends on their capability of modeling local geometric patterns. Conventional point-based models exploit local patterns through a symmetric function (e.g. max pooling)…

For many driving safety applications, it is of great importance to accurately register LiDAR point clouds generated on distant moving vehicles. However, such point clouds have extremely different point density and sensor perspective on the…

Spatially Resolved Transcriptomics (SRT) is a cutting-edge technique that captures the spatial context of cells within tissues, enabling the study of complex biological networks. Recent graph-based methods leverage both gene expression and…

Loop closure detection is an essential component of Simultaneous Localization and Mapping (SLAM) systems, which reduces the drift accumulated over time. Over the years, several deep learning approaches have been proposed to address this…

Real-time registration of partially overlapping point clouds has emerging applications in cooperative perception for autonomous vehicles and multi-agent SLAM. The relative translation between point clouds in these applications is higher…

Point cloud-based object/place recognition remains a problem of interest in applications such as autonomous driving, scene reconstruction, and localization. Extracting a meaningful global descriptor from a query point cloud that can be…