相关论文: SEM-GAT: Explainable Semantic Pose Estimation usin…

This paper proposes a pose-graph attentional graph neural network, called P-GAT, which compares (key)nodes between sequential and non-sequential sub-graphs for place recognition tasks as opposed to a common frame-to-frame retrieval problem…

In this work, we propose a methodology for investigating the use of semantic attention to enhance the explainability of Graph Neural Network (GNN)-based models. Graph Deep Learning (GDL) has emerged as a promising field for tasks like scene…

Due to the difficulty in generating the effective descriptors which are robust to occlusion and viewpoint changes, place recognition for 3D point cloud remains an open issue. Unlike most of the existing methods that focus on extracting…

Exploiting fine-grained semantic features on point cloud is still challenging due to its irregular and sparse structure in a non-Euclidean space. Among existing studies, PointNet provides an efficient and promising approach to learn shape…

In recent years, a plethora of diverse methods have been proposed for 3D pose estimation. Among these, self-attention mechanisms and graph convolutions have both been proven to be effective and practical methods. Recognizing the strengths…

Humans are able to perform fast and accurate object pose estimation even under severe occlusion by exploiting learned object model priors from everyday life. However, most recently proposed pose estimation algorithms neglect to utilize the…

Point cloud registration is a fundamental task in many applications such as localization, mapping, tracking, and reconstruction. Successful registration relies on extracting robust and discriminative geometric features. Though existing…

Person re-identification (reID) aims at retrieving a person from images captured by different cameras. For deep-learning-based reID methods, it has been proved that using local features together with global feature could help to give robust…

In this paper, we propose a graph neural network to detect objects from a LiDAR point cloud. Towards this end, we encode the point cloud efficiently in a fixed radius near-neighbors graph. We design a graph neural network, named Point-GNN,…

We present GraPLUS (Graph-based Placement Using Semantics), a novel framework for plausible object placement in images that leverages scene graphs and large language models. Our approach uniquely combines graph-structured scene…

Graph Neural Networks (GNNs) are deep learning methods which provide the current state of the art performance in node classification tasks. GNNs often assume homophily -- neighboring nodes having similar features and labels--, and therefore…

The use of graph neural networks has produced significant advances in point cloud problems, such as those found in high energy physics. The question of how to produce a graph structure in these problems is usually treated as a matter of…

Bottom-up approaches for image-based multi-person pose estimation consist of two stages: (1) keypoint detection and (2) grouping of the detected keypoints to form person instances. Current grouping approaches rely on learned embedding from…

The existing sonar image classification methods based on deep learning are often analyzed in Euclidean space, only considering the local image features. For this reason, this paper presents a sonar classification method based on improved…

This paper is about extremely robust and lightweight localisation using LiDAR point clouds based on instance segmentation and graph matching. We model 3D point clouds as fully-connected graphs of semantically identified components where…

In recent years, powered by the learned discriminative representation via graph neural network (GNN) models, deep graph matching methods have made great progresses in the task of matching semantic features. However, these methods usually…

We propose a novel image based localization system using graph neural networks (GNN). The pretrained ResNet50 convolutional neural network (CNN) architecture is used to extract the important features for each image. Following, the extracted…

The ability for an agent to localize itself within an environment is crucial for many real-world applications. For unknown environments, Simultaneous Localization and Mapping (SLAM) enables incremental and concurrent building of and…

Graph or network data is ubiquitous in the real world, including social networks, information networks, traffic networks, biological networks and various technical networks. The non-Euclidean nature of graph data poses the challenge for…

We present an attention-based spatial graph convolution (AGC) for graph neural networks (GNNs). Existing AGCs focus on only using node-wise features and utilizing one type of attention function when calculating attention weights. Instead,…