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

Visual environments are inherently hierarchical, as a panoramic view naturally encompasses and organizes multiple perspective views within its field. Capturing this hierarchy is crucial for effective perspective-to-equirectangular (P2E)…

Autonomous robots are increasingly becoming a strong fixture in social environments. Effective crowd navigation requires not only safe yet fast planning, but should also enable interpretability and computational efficiency for working in…

Hyperbolic spaces allow for more efficient modeling of complex, hierarchical structures, which is particularly beneficial in tasks involving multi-modal data. Although hyperbolic geometries have been proven effective for language-image…

Visual localization is a fundamental task that regresses the 6 Degree Of Freedom (6DoF) poses with image features in order to serve the high precision localization requests in many robotics applications. Degenerate conditions like motion…

Person re-identification (Person ReID) is a challenging task due to the large variations in camera viewpoint, lighting, resolution, and human pose. Recently, with the advancement of deep learning technologies, the performance of Person ReID…

Image fusion synthesizes complementary information from multiple sources, mitigating the inherent limitations of unimodal imaging systems. Accurate image registration is essential for effective multi-source data fusion. However, existing…

Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…

In recent years, there has been a growing trend of incorporating hyperbolic geometry methods into computer vision. While these methods have achieved state-of-the-art performance on various metric learning tasks using hyperbolic distance…

3D pose estimation from a single 2D image is an important and challenging task in computer vision with applications in autonomous driving, robot manipulation and augmented reality. Since 3D pose is a continuous quantity, a natural…

Balancing cost and performance is crucial when choosing high- versus low-resolution point-cloud roadside sensors. For example, LiDAR delivers dense point cloud, while 4D millimeter-wave radar, though spatially sparser, embeds velocity cues…

Structuring latent representations in a hierarchical manner enables models to learn patterns at multiple levels of abstraction. However, most prevalent image understanding models focus on visual similarity, and learning visual hierarchies…

Many human pose estimation methods estimate Skinned Multi-Person Linear (SMPL) models and regress the human joints from these SMPL estimates. In this work, we show that the most widely used SMPL-to-joint linear layer (joint regressor) is…

Geometric representation learning has recently shown great promise in several machine learning settings, ranging from relational learning to language processing and generative models. In this work, we consider the problem of performing…

We propose a novel efficient and lightweight model for human pose estimation from a single image. Our model is designed to achieve competitive results at a fraction of the number of parameters and computational cost of various…

We present a system for automatic converting of 2D mask object predictions and raw LiDAR point clouds into full 3D bounding boxes of objects. Because the LiDAR point clouds are partial, directly fitting bounding boxes to the point clouds is…

We address a data augmentation problem for LiDAR. Given a LiDAR scan of a scene from some position, how can one simulate new scans of that scene from different, secondary positions? The method defines criteria for selecting valid secondary…

Recent progress in artificial intelligence has encouraged numerous attempts to understand and decode human visual system from brain signals. These prior works typically align neural activity independently with semantic and perceptual…

In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other…

LiDAR and camera are two important sensors for 3D object detection in autonomous driving. Despite the increasing popularity of sensor fusion in this field, the robustness against inferior image conditions, e.g., bad illumination and sensor…

We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily,…