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

Feature extraction and matching are the basic parts of many robotic vision tasks, such as 2D or 3D object detection, recognition, and registration. As is known, 2D feature extraction and matching have already achieved great success.…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…

The localization of objects is a crucial task in various applications such as robotics, virtual and augmented reality, and the transportation of goods in warehouses. Recent advances in deep learning have enabled the localization using…

Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this…

Understanding humans from LiDAR point clouds is one of the most critical tasks in autonomous driving due to its close relationships with pedestrian safety, yet it remains challenging in the presence of diverse human-object interactions and…

Existing LGL methods typically consider only partial information (e.g., geometric features) from LiDAR observations or are designed for homogeneous LiDAR sensors, overlooking the uniformity in LGL. In this work, a uniform LGL method is…

Geo-localization is a critical task in computer vision. In this work, we cast the geo-localization as a 2D image retrieval task. Current state-of-the-art methods for 2D geo-localization are not robust to locate a scene with drastic scale…

LiDARs are widely used for 3D depth reconstruction, but their performance is often limited by inherent hardware constraints that impose trade-offs between range, spatial resolution, and frame rate. Many LiDAR systems typically operate at…

With the spread of tampered images, locating the tampered regions in digital images has drawn increasing attention. The existing image tampering localization methods, however, suffer from severe performance degradation when the tampered…

Several methods have been proposed to estimate 3D human pose from multi-view images, achieving satisfactory performance on public datasets collected under relatively simple conditions. However, there are limited approaches studying…

Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimation drift. However, achieving real-time performance remains…

We consider the problem of estimating a parametric model of 3D human mesh from a single image. While there has been substantial recent progress in this area with direct regression of model parameters, these methods only implicitly exploit…

Vehicle pose estimation with LiDAR is essential in the perception technology of autonomous driving. However, due to incomplete observation measurements and sparsity of the LiDAR point cloud, it is challenging to achieve satisfactory pose…

Reconstructing dense, volumetric models of real-world 3D scenes is important for many tasks, but capturing large scenes can take significant time, and the risk of transient changes to the scene goes up as the capture time increases. These…

The 3D human pose is vital for modern computer vision and computer graphics, and its prediction has drawn attention in recent years. 3D human pose prediction aims at forecasting a human's future motion from the previous sequence. Ignoring…

In multi-view 3D human pose estimation, models typically rely on images captured simultaneously from different camera views to predict a pose at a specific moment. While providing accurate spatial information, this traditional approach…

Scene flow is the dense 3D reconstruction of motion and geometry of a scene. Most state-of-the-art methods use a pair of stereo images as input for full scene reconstruction. These methods depend a lot on the quality of the RGB images and…

Existing multiple modality fusion methods, such as concatenation, summation, and encoder-decoder-based fusion, have recently been employed to combine modality characteristics of Hyperspectral Image (HSI) and Light Detection And Ranging…

This article presents a mathematical framework to simultaneously tackle the problems of 3D reconstruction, pose estimation and object classification, from a single 2D image. In sharp contrast with state of the art methods that rely…

The reliable fusion of depth maps from multiple viewpoints has become an important problem in many 3D reconstruction pipelines. In this work, we investigate its impact on robotic bin-picking tasks such as 6D object pose estimation. The…