相关论文: SIM-Sync: From Certifiably Optimal Synchronization…

This paper presents Dense Siamese Network (DenseSiam), a simple unsupervised learning framework for dense prediction tasks. It learns visual representations by maximizing the similarity between two views of one image with two types of…

Regularization is essential in deep learning to enhance generalization and mitigate overfitting. However, conventional techniques often rely on heuristics, making them less reliable or effective across diverse settings. We propose Self…

Classical monocular Simultaneous Localization And Mapping (SLAM) and the recently emerging convolutional neural networks (CNNs) for monocular depth prediction represent two largely disjoint approaches towards building a 3D map of the…

Semantic communication systems aim to transmit task-relevant information between devices capable of artificial intelligence, but their performance can degrade when heterogeneous transmitter-receiver models produce misaligned latent…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

In recent years, the paradigm of neural implicit representations has gained substantial attention in the field of Simultaneous Localization and Mapping (SLAM). However, a notable gap exists in the existing approaches when it comes to scene…

Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…

Keypoint detection and description play a central role in computer vision. Most existing methods are in the form of scene-level prediction, without returning the object classes of different keypoints. In this paper, we propose the…

Learning to predict scene depth and camera motion from RGB inputs only is a challenging task. Most existing learning based methods deal with this task in a supervised manner which require ground-truth data that is expensive to acquire. More…

We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…

The deployment of Extremely Large-Scale Antenna Arrays for 6G enables radiative near-field sensing but poses significant challenges in terms of hardware complexity and interference. Stacked Intelligent Metasurfaces (SIMs) address these…

Achieving high-quality semantic segmentation predictions using only image-level labels enables a new level of real-world applicability. Although state-of-the-art networks deliver reliable predictions, the amount of handcrafted pixel-wise…

Deploying depth estimation networks in the real world requires high-level robustness against various adverse conditions to ensure safe and reliable autonomy. For this purpose, many autonomous vehicles employ multi-modal sensor systems,…

This paper presents a novel algorithm named Direct Simultaneous Registration (DSR) that registers a collection of 3D images in a simultaneous fashion without specifying any reference image, feature extraction and matching, or information…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

The Segment Anything Model (SAM), a foundation model for general image segmentation, has demonstrated impressive zero-shot performance across numerous natural image segmentation tasks. However, SAM's performance significantly declines when…

In this work, we propose SAM3D, a novel framework that is able to predict masks in 3D point clouds by leveraging the Segment-Anything Model (SAM) in RGB images without further training or finetuning. For a point cloud of a 3D scene with…

This paper designs a technique route to generate high-quality panoramic image with depth information, which involves two critical research hotspots: fusion of LiDAR and image data and image stitching. For the fusion of 3D points and image…

In this paper, we unleash the potential of the powerful monodepth model in camera-LiDAR calibration and propose CLAIM, a novel method of aligning data from the camera and LiDAR. Given the initial guess and pairs of images and LiDAR point…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…