相关论文: RIGA: Rotation-Invariant and Globally-Aware Descri…

In this paper, we propose a novel learning-based framework for 3D shape registration, which overcomes the challenges of significant non-rigid deformation and partiality undergoing among input shapes, and, remarkably, requires no…

This paper presents Segregator, a global point cloud registration framework that exploits both semantic information and geometric distribution to efficiently build up outlier-robust correspondences and search for inliers. Current…

Loop closures are essential for correcting odometry drift and creating consistent maps, especially in the context of large-scale navigation. Current methods using dense point clouds for accurate place recognition do not scale well due to…

3D assets have rapidly expanded in quantity and diversity due to the growing popularity of virtual reality and gaming. As a result, text-to-shape retrieval has become essential in facilitating intuitive search within large repositories.…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

Global contexts in images are quite valuable in image-to-image translation problems. Conventional attention-based and graph-based models capture the global context to a large extent, however, these are computationally expensive. Moreover,…

Learning discriminative feature directly on point clouds is still challenging in the understanding of 3D shapes. Recent methods usually partition point clouds into local region sets, and then extract the local region features with…

The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…

Robust and discriminative feature learning is critical for high-quality point cloud registration. However, existing deep learning-based methods typically rely on Euclidean neighborhood-based strategies for feature extraction, which struggle…

This paper presents a novel appearance and shape feature, RISAS, which is robust to viewpoint, illumination, scale and rotation variations. RISAS consists of a keypoint detector and a feature descriptor both of which utilise texture and…

Current global re-localization algorithms are built on top of localization and mapping methods andheavily rely on scan matching and direct point cloud feature extraction and therefore are vulnerable infeatureless demanding environments like…

Learning local descriptors is an important problem in computer vision. While there are many techniques for learning local patch descriptors for 2D images, recently efforts have been made for learning local descriptors for 3D points. The…

Although Neural Radiance Fields (NeRF) is popular in the computer vision community recently, registering multiple NeRFs has yet to gain much attention. Unlike the existing work, NeRF2NeRF, which is based on traditional optimization methods…

Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed,…

Worldwide geolocalization aims to locate the precise location at the coordinate level of photos taken anywhere on the Earth. It is very challenging due to 1) the difficulty of capturing subtle location-aware visual semantics, and 2) the…

Modern image encoders achieve high generalization by decoupling semantic meaning from resolution, an ability yet to be fully realized in the 3D domain. We investigate the failure of 3D point cloud encoders to achieve similar generalization…

We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods have shown great potential through bypassing the detection of repeatable keypoints which is difficult to do especially in…

Global point cloud registration is an essential module for localization, of which the main difficulty exists in estimating the rotation globally without initial value. With the aid of gravity alignment, the degree of freedom in point cloud…

Existing learning-based point feature descriptors are usually task-agnostic, which pursue describing the individual 3D point clouds as accurate as possible. However, the matching task aims at describing the corresponding points consistently…

Point cloud registration is a fundamental task in 3D vision. Most existing methods only use geometric information for registration. Recently proposed RGB-D registration methods primarily focus on feature fusion or improving feature…