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

The advent of autonomous agents is transforming interactions with Graphical User Interfaces (GUIs) by employing natural language as a powerful intermediary. Despite the predominance of Supervised Fine-Tuning (SFT) methods in current GUI…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…

Point Cloud-based Place Recognition (PCPR) demonstrates considerable potential in applications such as autonomous driving, robot localization and navigation, and map update. In practical applications, point clouds used for place recognition…

3D Gaussian Splatting, known for enabling high-quality static scene reconstruction with fast rendering, is increasingly being applied to multi-view dynamic scene reconstruction. A common strategy involves learning a deformation field to…

Many point cloud classification methods are developed under the assumption that all point clouds in the dataset are well aligned with the canonical axes so that the 3D Cartesian point coordinates can be employed to learn features. When…

Deep learning-based visual perception models lack robustness when faced with camera motion perturbations in practice. The current certification process for assessing robustness is costly and time-consuming due to the extensive number of…

In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…

Achieving a balance between accuracy and efficiency is a critical challenge in facial landmark detection (FLD). This paper introduces Parallel Optimal Position Search (POPoS), a high-precision encoding-decoding framework designed to address…

Fine-grained geometry, captured by aggregation of point features in local regions, is crucial for object recognition and scene understanding in point clouds. Nevertheless, existing preeminent point cloud backbones usually incorporate…

DUSt3R has recently shown that one can reduce many tasks in multi-view geometry, including estimating camera intrinsics and extrinsics, reconstructing the scene in 3D, and establishing image correspondences, to the prediction of a pair of…

We tackle the problem of 3D point cloud localization based on a few natural linguistic descriptions and introduce a novel neural network, Text2Loc, that fully interprets the semantic relationship between points and text. Text2Loc follows a…

We propose an approach to instance segmentation from 3D point clouds based on dynamic convolution. This enables it to adapt, at inference, to varying feature and object scales. Doing so avoids some pitfalls of bottom up approaches,…

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…

The rapid growth of 3D point cloud data, driven by applications in autonomous driving, robotics, and immersive environments, has led to criticals demand for efficient compression and quality assessment techniques. Unlike traditional 2D…

Multi-modal Large Language Models (MLLMs) excel at single-image tasks but struggle with multi-image understanding due to cross-modal misalignment, leading to hallucinations (context omission, conflation, and misinterpretation). Existing…

Direct Preference Optimization (DPO) has been proposed as an effective and efficient alternative to reinforcement learning from human feedback (RLHF). In this paper, we propose a novel and enhanced version of DPO based on curriculum…

Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…

We propose C3DPO, a method for extracting 3D models of deformable objects from 2D keypoint annotations in unconstrained images. We do so by learning a deep network that reconstructs a 3D object from a single view at a time, accounting for…

This paper introduces a simple but highly efficient ensemble for robust texture classification, which can effectively deal with translation, scale and changes of significant viewpoint problems. The proposed method first inherits the spirit…