相关论文: RegHEC: Hand-Eye Calibration via Simultaneous Mult…

The adaptation of large-scale Vision-Language Models (VLMs) like CLIP to downstream tasks with extremely limited data -- specifically in the one-shot regime -- is often hindered by a significant "Stability-Plasticity" dilemma. While…

Image Registration is the process of aligning two or more images of the same scene with reference to a particular image. The images are captured from various sensors at different times and at multiple view-points. Thus to get a better…

This paper presents an efficient approach for determining the joint configuration of a multifingered gripper solely from the point cloud data of its poly-articulated chain, as generated by visual sensors, simulations or even generative…

Point cloud registration is a fundamental problem in 3D computer vision. Outdoor LiDAR point clouds are typically large-scale and complexly distributed, which makes the registration challenging. In this paper, we propose an efficient…

Real-time multi-camera 3D reconstruction is crucial for 3D perception, immersive interaction, and robotics. Existing methods struggle with multi-view fusion, camera extrinsic uncertainty, and scalability for large camera setups. We propose…

Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex…

State-of-the-art 3D point cloud registration methods rely on labeled 3D datasets for training, which limits their practical applications in real-world scenarios and often hinders generalization to unseen scenes. Leveraging the zero-shot…

We propose a certifiably globally optimal approach for solving the hand-eye robot-world problem supporting multiple sensors and targets at once. Further, we leverage this formulation for estimating a geo-referenced calibration of…

Object pose estimation plays a vital role in mixed-reality interactions when users manipulate tangible objects as controllers. Traditional vision-based object pose estimation methods leverage 3D reconstruction to synthesize training data.…

Category-level articulated object pose estimation focuses on the pose estimation of unknown articulated objects within known categories. Despite its significance, this task remains challenging due to the varying shapes and poses of objects,…

Referring expression comprehension (REC) aims at achieving object localization based on natural language descriptions. However, existing REC approaches are constrained by object category descriptions and single-attribute intention…

We propose SegVec3D, a novel framework for 3D point cloud instance segmentation that integrates attention mechanisms, embedding learning, and cross-modal alignment. The approach builds a hierarchical feature extractor to enhance geometric…

Point cloud registration is a central theme in computer vision, with alignment algorithms continuously improving for greater robustness. Commonly used methods evaluate Euclidean distances between point clouds and minimize an objective…

As a fundamental problem in computer vision, 3D point cloud registration (PCR) aims to seek the optimal pose to align a point cloud pair. In this paper, we present a 3D registration method with maximal cliques (MAC). The key insight is to…

While 3D object detection and pose estimation has been studied for a long time, its evaluation is not yet completely satisfactory. Indeed, existing datasets typically consist in numerous acquisitions of only a few scenes because of the…

Accurate steering through crop rows that avoids crop damage is one of the most important tasks for agricultural robots utilized in various field operations, such as monitoring, mechanical weeding, or spraying. In practice, varying soil…

In this paper, we propose a novel 3D registration paradigm, Generative Point Cloud Registration, which bridges advanced 2D generative models with 3D matching tasks to enhance registration performance. Our key idea is to generate cross-view…

This study proposes a novel self-calibration method for eye tracking in a virtual reality (VR) headset. The proposed method is based on the assumptions that the user's viewpoint can freely move and that the points of regard (PoRs) from…

A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for…

A fundamental problem in the texturing of 3D meshes using pre-trained text-to-image models is to ensure multi-view consistency. State-of-the-art approaches typically use diffusion models to aggregate multi-view inputs, where common issues…