相关论文: Local-consistent Transformation Learning for Rotat…

The aim of this paper is to demonstrate that a state of the art feature matcher (LoFTR) can be made more robust to rotations by simply replacing the backbone CNN with a steerable CNN which is equivariant to translations and image rotations.…

We introduce FPConv, a novel surface-style convolution operator designed for 3D point cloud analysis. Unlike previous methods, FPConv doesn't require transforming to intermediate representation like 3D grid or graph and directly works on…

Recent attempts at introducing rotation invariance or equivariance in 3D deep learning approaches have shown promising results, but these methods still struggle to reach the performances of standard 3D neural networks. In this work we study…

Recent advances in imitation learning and vision-language models highlight the need for high-fidelity tactile perception, with 6-DoF tactile object pose estimation providing a crucial foundation for precise robotic manipulation. We…

Category-level object pose estimation aims to predict the 6D pose and size of previously unseen instances from predefined categories, requiring strong generalization across diverse object instances. Although many previous methods attempt to…

Point cloud classifiers with rotation robustness have been widely discussed in the 3D deep learning community. Most proposed methods either use rotation invariant descriptors as inputs or try to design rotation equivariant networks.…

Local covariant feature detection, namely the problem of extracting viewpoint invariant features from images, has so far largely resisted the application of machine learning techniques. In this paper, we propose the first fully general…

Existing real-world super-resolution (RSR) methods based on generative priors have achieved remarkable progress in producing high-quality and globally consistent reconstructions. However, they often struggle to recover fine-grained details…

We propose a novel method to enhance the performance of coordinate-MLPs by learning instance-specific positional embeddings. End-to-end optimization of positional embedding parameters along with network weights leads to poor generalization…

We present a novel two-view geometry estimation framework which is based on a differentiable robust loss function fitting. We propose to treat the robust fundamental matrix estimation as an implicit layer, which allows us to avoid…

In this paper, we propose a One-Point-One NeRF (OPONeRF) framework for robust scene rendering. Existing NeRFs are designed based on a key assumption that the target scene remains unchanged between the training and test time. However, small…

Place recognition is one of the most crucial modules for autonomous vehicles to identify places that were previously visited in GPS-invalid environments. Sensor fusion is considered an effective method to overcome the weaknesses of…

We propose a Visual Teach and Repeat (VTR) algorithm using semantic landmarks extracted from environmental objects for ground robots with fixed mount monocular cameras. The proposed algorithm is robust to changes in the starting pose of the…

Long-term visual localization is an essential problem in robotics and computer vision, but remains challenging due to the environmental appearance changes caused by lighting and seasons. While many existing works have attempted to solve it…

Mesh is a powerful data structure for 3D shapes. Representation learning for 3D meshes is important in many computer vision and graphics applications. The recent success of convolutional neural networks (CNNs) for structured data (e.g.,…

Video-based 3D human pose and shape estimations are evaluated by intra-frame accuracy and inter-frame smoothness. Although these two metrics are responsible for different ranges of temporal consistency, existing state-of-the-art methods…

Understanding and predicting microstructure evolution is fundamental to materials science, as it governs the resulting properties and performance of materials. Traditional simulation methods, such as phase-field models, offer high-fidelity…

Learning invariant representations is an important problem in machine learning and pattern recognition. In this paper, we present a novel framework of transformation-invariant feature learning by incorporating linear transformations into…

Place recognition is a key module in robotic navigation. The existing line of studies mostly focuses on visual place recognition to recognize previously visited places solely based on their appearance. In this paper, we address structural…

Spatial nonstationarity, the location variance of features' statistical distributions, is ubiquitous in many natural settings. For example, in geological reservoirs rock matrix porosity varies vertically due to geomechanical compaction…