相关论文: GLACE: Global Local Accelerated Coordinate Encodin…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Spatially Resolved Transcriptomics (SRT) is a cutting-edge technique that captures the spatial context of cells within tissues, enabling the study of complex biological networks. Recent graph-based methods leverage both gene expression and…

In recent years, the dominant paradigm for text spotting is to combine the tasks of text detection and recognition into a single end-to-end framework. Under this paradigm, both tasks are accomplished by operating over a shared global…

Inverse rendering of indoor scenes remains challenging due to the ambiguity between reflectance and lighting, exacerbated by inter-reflections among multiple objects. While natural illumination-based methods struggle to resolve this…

Camera localization methods based on retrieval, local feature matching, and 3D structure-based pose estimation are accurate but require high storage, are slow, and are not privacy-preserving. A method based on scene landmark detection (SLD)…

Graph embedding methods transform high-dimensional and complex graph contents into low-dimensional representations. They are useful for a wide range of graph analysis tasks including link prediction, node classification, recommendation and…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

Neural implicit representations have recently shown encouraging results in various domains, including promising progress in simultaneous localization and mapping (SLAM). Nevertheless, existing methods produce over-smoothed scene…

LiDAR-based place recognition is an essential and challenging task both in loop closure detection and global relocalization. We propose Deep Scan Context (DSC), a general and discriminative global descriptor that captures the relationship…

In large-scale scene reconstruction using 3D Gaussian splatting, it is common to partition the scene into multiple smaller regions and reconstruct them individually. However, existing division methods are occlusion-agnostic, meaning that…

Cross-scene model adaption is crucial for camera relocalization in real scenarios. It is often preferable that a pre-learned model can be fast adapted to a novel scene with as few training samples as possible. The existing state-of-the-art…

Camera relocalization involving a prior 3D reconstruction plays a crucial role in many mixed reality and robotics applications. Estimating the camera pose directly with respect to pre-built 3D models can be prohibitively expensive for…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…

In recent years, visual representation learning has gained widespread attention in robotic imitation learning. However, in complex Out-of-Distribution(OOD) settings characterized by clutter and occlusion, the attention of global visual…

Generalised 3D Referring Expression Segmentation (3D-GRES) localizes objects in 3D scenes based on natural language, even when descriptions match multiple or zero targets. Existing methods rely solely on sparse point clouds, lacking rich…

In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…

We solve object localisation in partial scenes, a new problem of estimating the unknown position of an object (e.g. where is the bag?) given a partial 3D scan of a scene. The proposed solution is based on a novel scene graph model, the…

3D Gaussian Splatting (3DGS) has demonstrated impressive performance in scene reconstruction. However, most existing GS-based surface reconstruction methods focus on 3D objects or limited scenes. Directly applying these methods to…

The model of low-dimensional manifold and sparse representation are two well-known concise models that suggest each data can be described by a few characteristics. Manifold learning is usually investigated for dimension reduction by…

Visual Place recognition is commonly addressed as an image retrieval problem. However, retrieval methods are impractical to scale to large datasets, densely sampled from city-wide maps, since their dimension impact negatively on the…