相关论文: Speak the Same Language: Global LiDAR Registration…

This paper presents a method to detect reflection of 3D light detection and ranging (Lidar) scans and uses it to classify the points and also map objects outside the line of sight. Our software uses several approaches to analyze the point…

With the widespread adoption of millimeter-wave (mmWave) massive multi-input-multi-output (MIMO) in vehicular networks, accurate beam prediction and alignment have become critical for high-speed data transmission and reliable access. While…

Building segmentation is essential in infrastructure development, population management, and geological observations. This article targets shallow models due to their interpretable nature to assess the presence of LiDAR data for supervised…

The availability of large language models and open-vocabulary object perception methods enables more flexibility for domestic service robots. The large variability of domestic tasks can be addressed without implementing each task…

Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…

For many computer vision applications such as image captioning, visual question answering, and person search, learning discriminative feature representations at both image and text level is an essential yet challenging problem. Its…

Existing LiDAR-Camera fusion methods have achieved strong results in 3D object detection. To address the sparsity of point clouds, previous approaches typically construct spatial pseudo point clouds via depth completion as auxiliary input…

Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…

Human motion prediction is crucial for human-centric multimedia understanding and interacting. Current methods typically rely on ground truth human poses as observed input, which is not practical for real-world scenarios where only raw…

Localization using a monocular camera in the pre-built LiDAR point cloud map has drawn increasing attention in the field of autonomous driving and mobile robotics. However, there are still many challenges (e.g. difficulties of map storage,…

Vision-and-Language Pre-training (VLP) improves model performance for downstream tasks that require image and text inputs. Current VLP approaches differ on (i) model architecture (especially image embedders), (ii) loss functions, and (iii)…

Large unimodal foundation models for vision and language encode rich semantic structures, yet aligning them typically requires computationally intensive multimodal fine-tuning. Such approaches depend on large-scale parameter updates, are…

The main challenge in learning image-conditioned robotic policies is acquiring a visual representation conducive to low-level control. Due to the high dimensionality of the image space, learning a good visual representation requires a…

LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…

In real-world scenarios, many data processing problems often involve heterogeneous images associated with different imaging modalities. Since these multimodal images originate from the same phenomenon, it is realistic to assume that they…

Deep learning is expected to offer new opportunities and a new paradigm for the field of architecture. One such opportunity is teaching neural networks to visually understand architectural elements from the built environment. However, the…

Masked image modeling (MIM) as pre-training is shown to be effective for numerous vision downstream tasks, but how and where MIM works remain unclear. In this paper, we compare MIM with the long-dominant supervised pre-trained models from…

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…

The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…

Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…