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

Change detection, as a research hotspot in the field of remote sensing, has witnessed continuous development and progress. However, the discrimination of boundary details remains a significant bottleneck due to the complexity of surrounding…

Robust localization is the cornerstone of autonomous driving, especially in challenging urban environments where GPS signals suffer from multipath errors. Traditional localization approaches rely on high-definition (HD) maps, which consist…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

Wireless signal strength based localization can enable robust localization for robots using inexpensive sensors. For this, a location-to-signal-strength map has to be learned for each access point in the environment. Due to the ubiquity of…

How to effectively represent camera pose is an essential problem in 3D computer vision, especially in tasks such as camera pose regression and novel view synthesis. Traditionally, 3D position of the camera is represented by Cartesian…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

In this paper, we learn visual features that we use to first build a map and then localize a robot driving autonomously across a full day of lighting change, including in the dark. We train a neural network to predict sparse keypoints with…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…

We present a novel learning framework to solve the transport-and-packing (TAP) problem in 3D. It constitutes a full solution pipeline from partial observations of input objects via RGBD sensing and recognition to final box placement, via…

Visual localization is the task of estimating a 6-DoF camera pose of a query image within a provided 3D reference map. Thanks to recent advances in various 3D sensors, 3D point clouds are becoming a more accurate and affordable option for…

Convolutional Neural Network (CNN)-based machine learning systems have made breakthroughs in feature extraction and image recognition tasks in two dimensions (2D). Although there is significant ongoing work to apply CNN technology to…

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…

We present Location Field Descriptors, a novel approach for single image 3D model retrieval in the wild. In contrast to previous methods that directly map 3D models and RGB images to an embedding space, we establish a common low-level…

In the scenario of one/multi-shot learning, conventional end-to-end learning strategies without sufficient supervision are usually not powerful enough to learn correct patterns from noisy signals. Thus, given a CNN pre-trained for object…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

Cross-view geo-localization is to spot images of the same geographic target from different platforms, e.g., drone-view cameras and satellites. It is challenging in the large visual appearance changes caused by extreme viewpoint variations.…

We propose DeepMapping, a novel registration framework using deep neural networks (DNNs) as auxiliary functions to align multiple point clouds from scratch to a globally consistent frame. We use DNNs to model the highly non-convex mapping…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

In this work we introduce Lean Point Networks (LPNs) to train deeper and more accurate point processing networks by relying on three novel point processing blocks that improve memory consumption, inference time, and accuracy: a…