相关论文: F2M-Reg: Unsupervised RGB-D Point Cloud Registrati…

A high-fidelity digital simulation environment is crucial for accurately replicating physical operational processes. However, inconsistencies between simulation and physical environments result in low confidence in simulation outcomes,…

Image-to-point cloud registration aims to determine the relative camera pose of an RGB image with respect to a point cloud. It plays an important role in camera localization within pre-built LiDAR maps. Despite the modality gaps, most…

Rigid registration of point clouds is a fundamental problem in computer vision with many applications from 3D scene reconstruction to geometry capture and robotics. If a suitable initial registration is available, conventional methods like…

With the rise in consumer depth cameras, a wealth of unlabeled RGB-D data has become available. This prompts the question of how to utilize this data for geometric reasoning of scenes. While many RGB-D registration meth- ods rely on…

Towards the aim of generalized robotic manipulation, spatial generalization is the most fundamental capability that requires the policy to work robustly under different spatial distribution of objects, environment and agent itself. To…

Pre-training has become a standard paradigm in many computer vision tasks. However, most of the methods are generally designed on the RGB image domain. Due to the discrepancy between the two-dimensional image plane and the three-dimensional…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic daytime and weather…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

Applying data-driven approaches to non-rigid 3D reconstruction has been difficult, which we believe can be attributed to the lack of a large-scale training corpus. Unfortunately, this method fails for important cases such as highly…

Scene recognition is one of the basic problems in computer vision research with extensive applications in robotics. When available, depth images provide helpful geometric cues that complement the RGB texture information and help to identify…

3-D image registration, which involves aligning two or more images, is a critical step in a variety of medical applications from diagnosis to therapy. Image registration is commonly performed by optimizing an image matching metric as a cost…

Point cloud registration, a fundamental task in 3D vision, has achieved remarkable success with learning-based methods in outdoor environments. Unsupervised outdoor point cloud registration methods have recently emerged to circumvent the…

Neural Radiance Fields (NeRF) have emerged as a paradigm-shifting methodology for the photorealistic rendering of objects and environments, enabling the synthesis of novel viewpoints with remarkable fidelity. This is accomplished through…

Robust point cloud registration is a fundamental task in 3D computer vision and geometric deep learning, essential for applications such as large-scale 3D reconstruction, augmented reality, and scene understanding. However, the performance…

Point cloud registration is a common step in many 3D computer vision tasks such as object pose estimation, where a 3D model is aligned to an observation. Classical registration methods generalize well to novel domains but fail when given a…

In this paper, we introduce FMapping, an efficient neural field mapping framework that facilitates the continuous estimation of a colorized point cloud map in real-time dense RGB SLAM. To achieve this challenging goal without depth, a…

Point cloud registration plays a critical role in a multitude of computer vision tasks, such as pose estimation and 3D localization. Recently, a plethora of deep learning methods were formulated that aim to tackle this problem. Most of…

Pre-training on large-scale unlabeled datasets contribute to the model achieving powerful performance on 3D vision tasks, especially when annotations are limited. However, existing rendering-based self-supervised frameworks are…

Unsupervised learning for monocular camera motion and 3D scene understanding has gained popularity over traditional methods, relying on epipolar geometry or non-linear optimization. Notably, deep learning can overcome many issues of…