相关论文: End-to-end 2D-3D Registration between Image and Li…

The emerging 4D millimeter-wave radar, measuring the range, azimuth, elevation, and Doppler velocity of objects, is recognized for its cost-effectiveness and robustness in autonomous driving. Nevertheless, its point clouds exhibit…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

We introduce the Shape-Image Multimodal Network (SIM-Net), a novel 2D image classification architecture that integrates 3D point cloud representations inferred directly from RGB images. Our key contribution lies in a pixel-to-point…

Projecting the point cloud on the 2D spherical range image transforms the LiDAR semantic segmentation to a 2D segmentation task on the range image. However, the LiDAR range image is still naturally different from the regular 2D RGB image;…

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…

In this paper, we propose an end-to-end framework that jointly learns keypoint detection, descriptor representation and cross-frame matching for the task of image-based 3D localization. Prior art has tackled each of these components…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…

Many types of 3D acquisition sensors have emerged in recent years and point cloud has been widely used in many areas. Accurate and fast registration of cross-source 3D point clouds from different sensors is an emerged research problem in…

Indoor positioning and navigation inside an area with no GPS-data availability is a challenging problem. There are applications such as augmented reality, autonomous driving, navigation of drones inside tunnels, in which indoor positioning…

Global registration of heterogeneous ground and aerial mapping data is a challenging task. This is especially difficult in disaster response scenarios when we have no prior information on the environment and cannot assume the regular order…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…

Current neural networks-based object detection approaches processing LiDAR point clouds are generally trained from one kind of LiDAR sensors. However, their performances decrease when they are tested with data coming from a different LiDAR…

Point clouds captured by different sensors such as RGB-D cameras and LiDAR possess non-negligible domain gaps. Most existing methods design different network architectures and train separately on point clouds from various sensors.…

Robust and accurate 2D/3D registration, which aligns preoperative models with intraoperative images of the same anatomy, is crucial for successful interventional navigation. To mitigate the challenge of a limited field of view in…

Direct image-to-image alignment that relies on the optimization of photometric error metrics suffers from limited convergence range and sensitivity to lighting conditions. Deep learning approaches has been applied to address this problem by…

Current 3D object detection methods are heavily influenced by 2D detectors. In order to leverage architectures in 2D detectors, they often convert 3D point clouds to regular grids (i.e., to voxel grids or to bird's eye view images), or rely…

Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…

3D object detection is a key component of many robotic applications such as self-driving vehicles. While many approaches rely on expensive 3D sensors such as LiDAR to produce accurate 3D estimates, methods that exploit stereo cameras have…

Point cloud registration (PCR) is an essential task in 3D vision. Existing methods achieve increasingly higher accuracy. However, a large proportion of non-overlapping points in point cloud registration consume a lot of computational…