相关论文: CPO: Change Robust Panorama to Point Cloud Localiz…

Research into dynamic 3D scene understanding has primarily focused on short-term change tracking from dense observations, while little attention has been paid to long-term changes with sparse observations. We address this gap with MoRE, a…

This paper addresses the challenge of edge caching in dynamic environments, where rising traffic loads strain backhaul links and core networks. We propose a Proximal Policy Optimization (PPO)-based caching strategy that fully incorporates…

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…

This paper presents DeepI2P: a novel approach for cross-modality registration between an image and a point cloud. Given an image (e.g. from a rgb-camera) and a general point cloud (e.g. from a 3D Lidar scanner) captured at different…

Initialization is essential to monocular Simultaneous Localization and Mapping (SLAM) problems. This paper focuses on a novel initialization method for monocular SLAM based on planar features. The algorithm starts by homography estimation…

We present ROCA, a novel end-to-end approach that retrieves and aligns 3D CAD models from a shape database to a single input image. This enables 3D perception of an observed scene from a 2D RGB observation, characterized as a lightweight,…

The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while…

We tackle the problem of getting a full 6-DOF pose estimation of a query image inside a given point cloud. This technical report re-evaluates the algorithms proposed by Y. Li et al. "Worldwide Pose Estimation using 3D Point Cloud". Our code…

Rigid Point Cloud Registration (PCR) algorithms aim to estimate the 6-DOF relative motion between two point clouds, which is important in various fields, including autonomous driving. Recent years have seen a significant improvement in…

Point cloud completion aims to recover partial geometric and topological shapes caused by equipment defects or limited viewpoints. Current methods either solely rely on the 3D coordinates of the point cloud to complete it or incorporate…

3D reconstruction in dynamic scenes primarily relies on the combination of geometry estimation and matching modules where the latter task is pivotal for distinguishing dynamic regions which can help to mitigate the interference introduced…

Direct Preference Optimisation (DPO) has emerged as a powerful method for aligning Large Language Models (LLMs) with human preferences, offering a stable and efficient alternative to approaches that use Reinforcement learning via Human…

Learning to predict reliable characteristic orientations of 3D point clouds is an important yet challenging problem, as different point clouds of the same class may have largely varying appearances. In this work, we introduce a novel method…

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…

Point cloud upsampling is to densify a sparse point set acquired from 3D sensors, providing a denser representation for the underlying surface. Existing methods divide the input points into small patches and upsample each patch separately,…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

We propose a novel approach aimed at object and semantic scene completion from a partial scan represented as a 3D point cloud. Our architecture relies on three novel layers that are used successively within an encoder-decoder structure and…

We tackle the problem of localizing 3D point cloud submaps using complex and diverse natural language descriptions, and present Text2Loc++, a novel neural network designed for effective cross-modal alignment between language and point…

This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence.…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…