相关论文: MaFreeI2P: A Matching-Free Image-to-Point Cloud Re…

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…

Estimating the pose of an unseen object is the goal of the challenging one-shot pose estimation task. Previous methods have heavily relied on feature matching with great success. However, these methods are often inefficient and limited by…

We investigate a variation of the 3D registration problem, named multi-model 3D registration. In the multi-model registration problem, we are given two point clouds picturing a set of objects at different poses (and possibly including…

Multi-frame human pose estimation has long been a compelling and fundamental problem in computer vision. This task is challenging due to fast motion and pose occlusion that frequently occur in videos. State-of-the-art methods strive to…

Accurate uncertainty estimation associated with the pose transformation between two 3D point clouds is critical for autonomous navigation, grasping, and data fusion. Iterative closest point (ICP) is widely used to estimate the…

Intensity-based image registration approaches rely on similarity measures to guide the search for geometric correspondences with high affinity between images. The properties of the used measure are vital for the robustness and accuracy of…

The comparison of current image data with existing 3D model data of a scene provides an efficient method to keep models up to date. In order to transfer information between 2D and 3D data, a preliminary co-registration is necessary. In this…

Low-overlap regions between paired point clouds make the captured features very low-confidence, leading cutting edge models to point cloud registration with poor quality. Beyond the traditional wisdom, we raise an intriguing question: Is it…

Given a new $6DoF$ camera pose in an indoor environment, we study the challenging problem of predicting the view from that pose based on a set of reference RGBD views. Existing explicit or implicit 3D geometry construction methods are…

3D single object tracking (SOT) methods based on appearance matching has long suffered from insufficient appearance information incurred by incomplete, textureless and semantically deficient LiDAR point clouds. While motion paradigm…

This paper proposes a generalizable, end-to-end deep learning-based method for relative pose regression between two images. Given two images of the same scene captured from different viewpoints, our method predicts the relative rotation and…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

Re-ranking is the second stage of a visual place recognition task, in which the system chooses the best-matching images from a pre-selected subset of candidates. Model-free approaches compute the image pair similarity based on a spatial…

3D point cloud registration in remote sensing field has been greatly advanced by deep learning based methods, where the rigid transformation is either directly regressed from the two point clouds (correspondences-free approaches) or…

Self-supervised multi-frame depth estimation achieves high accuracy by computing matching costs of pixel correspondences between adjacent frames, injecting geometric information into the network. These pixel-correspondence candidates are…

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…

We address the problem of ground-to-satellite image geo-localization, that is, estimating the camera latitude, longitude and orientation (azimuth angle) by matching a query image captured at the ground level against a large-scale database…

Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on…

In this paper, we address the problem of camera pose estimation in outdoor and indoor scenarios. In comparison to the currently top-performing methods that rely on 2D to 3D matching, we propose a model that can directly regress the camera…

Point cloud registration is a fundamental problem in computer vision and robotics, involving the alignment of 3D point sets captured from varying viewpoints using depth sensors such as LiDAR or structured light. In modern robotic systems,…