相关论文: E2PNet: Event to Point Cloud Registration with Spa…

Video data is often repetitive; for example, the contents of adjacent frames are usually strongly correlated. Such redundancy occurs at multiple levels of complexity, from low-level pixel values to textures and high-level semantics. We…

Neuromorphic vision sensors offer low latency and high dynamic range, but their deployment in public spaces raises severe data protection concerns. Recent Event-to-Video (E2V) models can reconstruct high-fidelity intensity images from…

Point cloud based retrieval for place recognition is still a challenging problem due to drastic appearance and illumination changes of scenes in changing environments. Existing deep learning based global descriptors for the retrieval task…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

We propose RPSRNet - a novel end-to-end trainable deep neural network for rigid point set registration. For this task, we use a novel $2^D$-tree representation for the input point sets and a hierarchical deep feature embedding in the neural…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

Monitoring aerial objects is crucial for security, wildlife conservation, and environmental studies. Traditional RGB-based approaches struggle with challenges such as scale variations, motion blur, and high-speed object movements,…

Image-to-point-cloud (I2P) registration aims to align 2D images with 3D point clouds by establishing reliable 2D-3D correspondences. The drastic modality gap between images and point clouds makes it challenging to learn features that are…

Scene graphs have been proven to be useful for various scene understanding tasks due to their compact and explicit nature. However, existing approaches often neglect the importance of maintaining the symmetry-preserving property when…

Aligning partial views of a scene into a single whole is essential to understanding one's environment and is a key component of numerous robotics tasks such as SLAM and SfM. Recent approaches have proposed end-to-end systems that can…

Recognizing target objects using an event-based camera draws more and more attention in recent years. Existing works usually represent the event streams into point-cloud, voxel, image, etc, and learn the feature representations using…

Event cameras provide high dynamic range and microsecond-level temporal resolution, making them well-suited for indoor robot navigation, where conventional RGB cameras degrade under fast motion or low-light conditions. Despite advances in…

This paper proposes a self-supervised learned local detector and descriptor, called EventPoint, for event stream/camera tracking and registration. Event-based cameras have grown in popularity because of their biological inspiration and low…

Event cameras are neuromorphic vision sensors that record a scene as sparse and asynchronous event streams. Most event-based methods project events into dense frames and process them using conventional vision models, resulting in high…

Event camera sensors are bio-inspired sensors which asynchronously capture per-pixel brightness changes and output a stream of events encoding the polarity, location and time of these changes. These systems are witnessing rapid advancements…

Although convolutional neural networks have achieved remarkable success in analyzing 2D images/videos, it is still non-trivial to apply the well-developed 2D techniques in regular domains to the irregular 3D point cloud data. To bridge this…

Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed,…

Technology to recognize the type of component represented by a point cloud is required in the reconstruction process of an as-built model of a process plant based on laser scanning. The reconstruction process of a process plant through…

Event cameras offer unique advantages such as high temporal resolution, low latency, and high dynamic range, making them more and more popular for vision tasks under challenging light conditions. However, their high cost, limited…

Event-based cameras offer unique advantages such as high temporal resolution, high dynamic range, and low power consumption. However, the massive storage requirements and I/O burdens of existing synthetic data generation pipelines and the…