相关论文: Text2Loc: 3D Point Cloud Localization from Natural…

Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…

The unprecedented advancements in Large Language Models (LLMs) have shown a profound impact on natural language processing but are yet to fully embrace the realm of 3D understanding. This paper introduces PointLLM, a preliminary effort to…

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…

Large-scale point cloud generated from 3D sensors is more accurate than its image-based counterpart. However, it is seldom used in visual pose estimation due to the difficulty in obtaining 2D-3D image to point cloud correspondences. In this…

Place recognition plays an essential role in the field of autonomous driving and robot navigation. Point cloud based methods mainly focus on extracting global descriptors from local features of point clouds. Despite having achieved…

Place recognition is an important technique for autonomous cars to achieve full autonomy since it can provide an initial guess to online localization algorithms. Although current methods based on images or point clouds have achieved…

Visual localization is the problem of estimating the camera pose of a given image with respect to a known scene. Visual localization algorithms are a fundamental building block in advanced computer vision applications, including Mixed and…

Visual localization, i.e., the problem of camera pose estimation, is a central component of applications such as autonomous robots and augmented reality systems. A dominant approach in the literature, shown to scale to large scenes and to…

A growing demand for natural-scene text detection has been witnessed by the computer vision community since text information plays a significant role in scene understanding and image indexing. Deep neural networks are being used due to…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Natural language provides an intuitive way to express spatial intent in geospatial applications. While existing localization methods often rely on dense point cloud maps or high-resolution imagery, OpenStreetMap (OSM) offers a compact and…

We propose a novel approach aimed at object and semantic scene completion from a partial scan represented as a 3D point cloud. Our architecture relies on three novel layers that are used successively within an encoder-decoder structure and…

Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In…

With the rise of large-scale models trained on broad data, in-context learning has become a new learning paradigm that has demonstrated significant potential in natural language processing and computer vision tasks. Meanwhile, in-context…

The paper presents a learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Existing methods, such as PointNetVLAD, are based on unordered point cloud representation. They use PointNet…

We present CrossLoc3D, a novel 3D place recognition method that solves a large-scale point matching problem in a cross-source setting. Cross-source point cloud data corresponds to point sets captured by depth sensors with different…

This paper focuses on the recently popular task of point cloud completion guided by multimodal information. Although existing methods have achieved excellent performance by fusing auxiliary images, there are still some deficiencies,…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

We introduce the novel task of Language-Guided Object Placement in Real 3D Scenes. Our model is given a 3D scene's point cloud, a 3D asset, and a textual prompt broadly describing where the 3D asset should be placed. The task here is to…