相关论文: LDL: Line Distance Functions for Panoramic Localiz…

Linear dimensionality reduction methods are a cornerstone of analyzing high dimensional data, due to their simple geometric interpretations and typically attractive computational properties. These methods capture many data features of…

For robust visual-inertial SLAM in perceptually-challenging indoor environments,recent studies exploit line features to extract descriptive information about scene structure to deal with the degeneracy of point features. But existing…

Label distribution learning (LDL) is an emerging learning paradigm designed to capture the relative importance of labels for each instance. Label-specific features (LSFs), constructed by LIFT, have proven effective for learning tasks with…

Diffusion models (DMs) excel in photo-realistic image synthesis, but their adaptation to LiDAR scene generation poses a substantial hurdle. This is primarily because DMs operating in the point space struggle to preserve the curve-like…

Robust cross-seasonal localization is one of the major challenges in long-term visual navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic segmentation of images, i.e., where each pixel is assigned a…

Topographic models are essential for characterizing planetary surfaces and for inferring underlying geological processes. Nevertheless, meter-scale topographic data remain limited, which constrains detailed planetary investigations, even…

Estimating the heightmaps of buildings and vegetation in single remotely sensed images is a challenging problem. Effective solutions to this problem can comprise the stepping stone for solving complex and demanding problems that require 3D…

We present LoD-Loc v3, a novel method for generalized aerial visual localization in dense urban environments. While prior work LoD-Loc v2 achieves localization through semantic building silhouette alignment with low-detail city models, it…

Deep Metric Learning (DML) methods have been proven relevant for visual similarity learning. However, they sometimes lack generalization properties because they are trained often using an inappropriate sample selection strategy or due to…

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…

In this paper, we present INertial Lidar Localisation Autocalibration And MApping (IN2LAAMA): an offline probabilistic framework for localisation, mapping, and extrinsic calibration based on a 3D-lidar and a 6-DoF-IMU. Most of today's…

We propose an algorithm to predict room layout from a single image that generalizes across panoramas and perspective images, cuboid layouts and more general layouts (e.g. L-shape room). Our method operates directly on the panoramic image,…

Understanding dynamic outdoor environments requires capturing complex object interactions and their evolution over time. LiDAR-based 4D point clouds provide precise spatial geometry and rich temporal cues, making them ideal for representing…

Many real-world applications operate on dynamic graphs that undergo rapid changes in their topological structure over time. However, it is challenging to design dynamic algorithms that are capable of supporting such graph changes…

A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…

Most existing approaches for visual localization either need a detailed 3D model of the environment or, in the case of learning-based methods, must be retrained for each new scene. This can either be very expensive or simply impossible for…

In crowded urban environments where traffic is dense, current technologies struggle to oversee tight navigation, but surface-level understanding allows autonomous vehicles to safely assess proximity to surrounding obstacles. 3D or 2D scene…

Loop Closure Detection (LCD) is an essential component of visual simultaneous localization and mapping (SLAM) systems. It enables the recognition of previously visited scenes to eliminate pose and map estimate drifts arising from long-term…

Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…