相关论文: Text to Point Cloud Localization with Relation-Enh…

Accurate vehicle localization is a critical challenge in urban environments where GPS signals are often unreliable. This paper presents a cooperative multi-sensor and multi-modal localization approach to address this issue by fusing data…

Recently proposed fine-grained 3D visual grounding is an essential and challenging task, whose goal is to identify the 3D object referred by a natural language sentence from other distractive objects of the same category. Existing works…

In autonomous driving, 3D object detection based on multi-modal data has become an indispensable approach when facing complex environments around the vehicle. During multi-modal detection, LiDAR and camera are simultaneously applied for…

Much of natural language processing is focused on leveraging large capacity language models, typically trained over single messages with a task of predicting one or more tokens. However, modeling human language at higher-levels of context…

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…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is presented by achieving place recognition and metric pose estimation…

This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i.e. rotation matrix and translation vector) between two pointcloud dataset. The method improves the robustness of point…

The ability to predict future structure features of environments based on past perception information is extremely needed by autonomous vehicles, which helps to make the following decision-making and path planning more reasonable. Recently,…

As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…

Recent Transformer-based methods have achieved advanced performance in point cloud registration by utilizing advantages of the Transformer in order-invariance and modeling dependency to aggregate information. However, they still suffer from…

Semantic location prediction aims to derive meaningful location insights from multimodal social media posts, offering a more contextual understanding of daily activities than using GPS coordinates. This task faces significant challenges due…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

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…

The language-guided robot grasping task requires a robot agent to integrate multimodal information from both visual and linguistic inputs to predict actions for target-driven grasping. While recent approaches utilizing Multimodal Large…

Current models for point cloud recognition demonstrate promising performance on synthetic datasets. However, real-world point cloud data inevitably contains noise, impacting model robustness. While recent efforts focus on enhancing…

Autonomous robots operating in real-world environments encounter a variety of objects that can be both rigid and articulated in nature. Having knowledge of these specific object properties not only helps in designing appropriate…

For robots to understand human instructions and perform meaningful tasks in the near future, it is important to develop learned models that comprehend referential language to identify common objects in real-world 3D scenes. In this paper,…

Text-to-point-cloud localization enables robots to understand spatial positions through natural language descriptions, which is crucial for human-robot collaboration in applications such as autonomous driving and last-mile delivery.…

Transformer-based models have significantly advanced natural language processing and computer vision in recent years. However, due to the irregular and disordered structure of point cloud data, transformer-based models for 3D deep learning…