相关论文: 3D-BBS: Global Localization for 3D Point Cloud Sca…

3D Gaussian Splatting (3DGS) has emerged as a promising 3D reconstruction technique. The traditional 3DGS training pipeline follows three sequential steps: Gaussian densification, Gaussian projection, and color splatting. Despite its…

Locating mobile devices precisely in indoor scenarios is a challenging task because of the signal diffraction and reflection in complicated environments. One vital cause deteriorating the localization performance is the inevitable power…

This paper presents a real-time 3D LiDAR mapping framework based on global matching cost minimization. The proposed method constructs a factor graph that directly minimizes matching costs between frames over the entire map, unlike pose…

We propose simple yet effective improvements in point representations and local neighborhood graph construction within the general framework of graph neural networks (GNNs) for 3D point cloud processing. As a first contribution, we propose…

The problem of planar registration consists in finding the transformation that better aligns two point sets. In our setting, the search domain is the set of planar rigid transformations and the objective function is the sum of the distances…

Object detection and global localization play a crucial role in robotics, spanning across a great spectrum of applications from autonomous cars to multi-layered 3D Scene Graphs for semantic scene understanding. This article proposes BOX3D,…

This paper deals with the development of a localization methodology for autonomous vehicles using only a $3\Dim$ LIDAR sensor. In the context of this paper, localizing a vehicle in a known 3D global map of the environment is essentially to…

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…

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…

Registration of 3D point clouds is a fundamental task in several applications of robotics and computer vision. While registration methods such as iterative closest point and variants are very popular, they are only locally optimal. There…

Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…

Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…

Image-based 3D scene reconstruction, which transforms multi-view images into a structured 3D representation of the surrounding environment, is a common task across many modern applications. 3D Gaussian Splatting (3DGS) is a new paradigm to…

3D Gaussian Splatting (3DGS) has made significant strides in real-time 3D scene reconstruction, but faces memory scalability issues in high-resolution scenarios. To address this, we propose Hierarchical Gaussian Splatting (HRGS), a…

Landslide monitoring is essential for understanding geohazards and mitigating associated risks. Existing point cloud-based methods, however, typically rely on either geometric or radiometric information and often yield sparse or non-3D…

LiDAR sensors are a powerful tool for robot simultaneous localization and mapping (SLAM) in unknown environments, but the raw point clouds they produce are dense, computationally expensive to store, and unsuited for direct use by downstream…

3D Gaussian Splatting (3DGS) has established itself as an efficient representation for real-time, high-fidelity 3D scene reconstruction. However, scaling 3DGS to large and unbounded scenes such as city blocks remains difficult. Existing…

3D Gaussian splatting (3D-GS) is a new rendering approach that outperforms the neural radiance field (NeRF) in terms of both speed and image quality. 3D-GS represents 3D scenes by utilizing millions of 3D Gaussians and projects these…

Accurate localization and 3D maps are increasingly needed for various artificial intelligence based IoT applications such as augmented reality, intelligent transportation, crowd monitoring, robotics, etc. This article proposes a novel…

Indoor localization for autonomous micro aerial vehicles (MAVs) requires specific localization techniques, since the Global Positioning System (GPS) is usually not available. We present an efficient onboard computer vision approach that…