相关论文: Representing 3D sparse map points and lines for ca…

Learning expressive representations for high-dimensional yet sparse features has been a longstanding problem in information retrieval. Though recent deep learning methods can partially solve the problem, they often fail to handle the…

Our goal is to design architectures that retain the groundbreaking performance of CNNs for landmark localization and at the same time are lightweight, compact and suitable for applications with limited computational resources. To this end,…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

We present a novel attention-based mechanism to learn enhanced point features for point cloud processing tasks, e.g., classification and segmentation. Unlike prior works, which were trained to optimize the weights of a pre-selected set of…

We tackle the problem of finding accurate and robust keypoint correspondences between images. We propose a learning-based approach to guide local feature matches via a learned approximate image matching. Our approach can boost the results…

The goal of this paper is to take a single 2D image of a scene and recover the 3D structure in terms of a small set of factors: a layout representing the enclosing surfaces as well as a set of objects represented in terms of shape and pose.…

Existing visual localization methods are typically either 2D image-based, which are easy to build and maintain but limited in effective geometric reasoning, or 3D structure-based, which achieve high accuracy but require a centralized…

In this paper, we present a robust method for scene recognition, which leverages Convolutional Neural Networks (CNNs) features and Sparse Coding setting by creating a new representation of indoor scenes. Although CNNs highly benefited the…

We tackle the problem of 3D point cloud localization based on a few natural linguistic descriptions and introduce a novel neural network, Text2Loc, that fully interprets the semantic relationship between points and text. Text2Loc follows a…

This paper presents a simple yet powerful method for 3D human mesh reconstruction from a single RGB image. Most recently, the non-local interactions of the whole mesh vertices have been effectively estimated in the transformer while the…

LiDAR registration is a fundamental task in robotic mapping and localization. A critical component of aligning two point clouds is identifying robust point correspondences using point descriptors. This step becomes particularly challenging…

Recognizing and localizing objects in the 3D space is a crucial ability for an AI agent to perceive its surrounding environment. While significant progress has been achieved with expensive LiDAR point clouds, it poses a great challenge for…

Understanding how information is represented in neural networks is a fundamental challenge in both neuroscience and artificial intelligence. Despite their nonlinear architectures, recent evidence suggests that neural networks encode…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…

We propose a novel method for 3D object reconstruction from a sparse set of views captured from a 360-degree calibrated camera rig. We represent the object surface through a hybrid model that uses both an MLP-based neural representation and…

To be robust to illumination changes when detecting objects in images, the current trend is to train a Deep Network with training images captured under many different lighting conditions. Unfortunately, creating such a training set is very…

Pixel-level labels are particularly expensive to acquire. Hence, pretraining is a critical step to improve models on a task like semantic segmentation. However, prominent algorithms for pretraining neural networks use image-level…

Learning general image representations has proven key to the success of many computer vision tasks. For example, many approaches to image understanding problems rely on deep networks that were initially trained on ImageNet, mostly because…

The main challenges of 3D pose transfer are: 1) Lack of paired training data with different characters performing the same pose; 2) Disentangling pose and shape information from the target mesh; 3) Difficulty in applying to meshes with…