相关论文: VNI-Net: Vector Neurons-based Rotation-Invariant D…

Establishing correspondences between 3D shapes is a fundamental task in 3D Computer Vision, typically addressed by matching local descriptors. Recently, a few attempts at applying the deep learning paradigm to the task have shown promising…

6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…

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…

Semantic place categorization, which is one of the essential tasks for autonomous robots and vehicles, allows them to have capabilities of self-decision and navigation in unfamiliar environments. In particular, outdoor places are more…

Robust data association is necessary for virtually every SLAM system and finding corresponding points is typically a preprocessing step for scan alignment algorithms. Traditionally, handcrafted feature descriptors were used for these…

Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…

Extracting discriminative local features that are invariant to imaging variations is an integral part of establishing correspondences between images. In this work, we introduce a self-supervised learning framework to extract discriminative…

LiDAR based place recognition is popular for loop closure detection and re-localization. In recent years, deep learning brings improvements to place recognition by learnable feature extraction. However, these methods degenerate when the…

Learning-based methods are promising to plan robot motion without performing extensive search, which is needed by many non-learning approaches. Recently, Value Iteration Networks (VINs) received much interest since---in contrast to standard…

Convolutional neural networks (CNNs) allow for parameter sharing and translational equivariance by using convolutional kernels in their linear layers. By restricting these kernels to be SO(3)-steerable, CNNs can further improve parameter…

Point cloud-based large scale place recognition is an important but challenging task for many applications such as Simultaneous Localization and Mapping (SLAM). Taking the task as a point cloud retrieval problem, previous methods have made…

In this work we propose a neural network based image descriptor suitable for image patch matching, which is an important task in many computer vision applications. Our approach is influenced by recent success of deep convolutional neural…

Object recognition from images means to automatically find object(s) of interest and to return their category and location information. Benefiting from research on deep learning, like convolutional neural networks~(CNNs) and generative…

Boundary Vector Cells (BVCs) are a class of neurons in the brains of vertebrates that encode environmental boundaries at specific distances and allocentric directions, playing a central role in forming place fields in the hippocampus. Most…

Data-driven deep learning approaches to image registration can be less accurate than conventional iterative approaches, especially when training data is limited. To address this whilst retaining the fast inference speed of deep learning, we…

Detecting poorly textured objects and estimating their 3D pose reliably is still a very challenging problem. We introduce a simple but powerful approach to computing descriptors for object views that efficiently capture both the object…

In 3D LiDAR-based robot self-localization, pole-like landmarks are gaining popularity as lightweight and discriminative landmarks. This work introduces a novel approach called "discriminative rotation-invariant poles," which enhances the…

LiDAR-based Place Recognition (LPR) remains a critical task in Embodied Artificial Intelligence (AI) and Autonomous Driving, primarily addressing localization challenges in GPS-denied environments and supporting loop closure detection.…

The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…

Rotation-invariance is a desired property of machine-learning models for medical image analysis and in particular for computational pathology applications. We propose a framework to encode the geometric structure of the special Euclidean…