相关论文: HypLiLoc: Towards Effective LiDAR Pose Regression …

Learning in hyperbolic spaces has attracted increasing attention due to its superior ability to model hierarchical structures of data. Most existing hyperbolic learning methods use fixed distance measures for all data, assuming a uniform…

Visual relocalization is a fundamental task in the field of 3D computer vision, estimating a camera's pose when it revisits a previously known scene. While point-based hierarchical relocalization methods have shown strong scalability and…

The fusion of hyperspectral and LiDAR data has been an active research topic. Existing fusion methods have ignored the high-dimensionality and redundancy challenges in hyperspectral images, despite that band selection methods have been…

Relative pose estimation is crucial for various computer vision applications, including Robotic and Autonomous Driving. Current methods primarily depend on selecting and matching feature points prone to incorrect matches, leading to poor…

Autonomous driving is an exciting new industry, posing important research questions. Within the perception module, 3D human pose estimation is an emerging technology, which can enable the autonomous vehicle to perceive and understand the…

We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…

In this paper, we propose a robust end-to-end multi-modal pipeline for place recognition where the sensor systems can differ from the map building to the query. Our approach operates directly on images and LiDAR scans without requiring any…

State-of-the-art hierarchical localisation pipelines (HLoc) employ image retrieval (IR) to establish 2D-3D correspondences by selecting the top-$k$ most similar images from a reference database. While increasing $k$ improves localisation…

This paper introduces a 3D point cloud sequence learning model based on inconsistent spatio-temporal propagation for LiDAR odometry, termed DSLO. It consists of a pyramid structure with a spatial information reuse strategy, a sequential…

Visual localization refers to the process of determining camera poses and orientation within a known scene representation. This task is often complicated by factors such as changes in illumination and variations in viewing angles. In this…

Multi-frame human pose estimation in complicated situations is challenging. Although state-of-the-art human joints detectors have demonstrated remarkable results for static images, their performances come short when we apply these models to…

3D human meshes show a natural hierarchical structure (like torso-limbs-fingers). But existing video-based 3D human mesh recovery methods usually learn mesh features in Euclidean space. It's hard to catch this hierarchical structure…

Image retrieval methods rely on metric learning to train backbone feature extraction models that can extract discriminant queries and reference (gallery) feature representations for similarity matching. Although state-of-the-art accuracy…

Finding meaningful representations and distances of hierarchical data is important in many fields. This paper presents a new method for hierarchical data embedding and distance. Our method relies on combining diffusion geometry, a central…

The availability of city-scale Lidar maps enables the potential of city-scale place recognition using mobile cameras. However, the city-scale Lidar maps generally need to be compressed for storage efficiency, which increases the difficulty…

LiDAR Odometry and Mapping (LOAM) is a pivotal technique for embodied-AI applications such as autonomous driving and robot navigation. Most existing LOAM frameworks are either contingent on the supervision signal, or lack of the…

Computer vision tasks such as image classification, image retrieval and few-shot learning are currently dominated by Euclidean and spherical embeddings, so that the final decisions about class belongings or the degree of similarity are made…

While camera and LiDAR are widely used in most of the assisted and autonomous driving systems, only a few works have been proposed to associate the temporal synchronization and extrinsic calibration for camera and LiDAR which are dedicated…

Metric learning aims to learn a highly discriminative model encouraging the embeddings of similar classes to be close in the chosen metrics and pushed apart for dissimilar ones. The common recipe is to use an encoder to extract embeddings…

In this work, we propose a fashion item recommendation model that incorporates hyperbolic geometry into user and item representations. Using hyperbolic space, our model aims to capture implicit hierarchies among items based on their visual…