相关论文: CMR-Agent: Learning a Cross-Modal Agent for Iterat…

The ability to build maps is a key functionality for the majority of mobile robots. A central ingredient to most mapping systems is the registration or alignment of the recorded sensor data. In this paper, we present a general methodology…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

Non-rigid inter-modality registration can facilitate accurate information fusion from different modalities, but it is challenging due to the very different image appearances across modalities. In this paper, we propose to train a non-rigid…

Scene-level point cloud registration is very challenging when considering dynamic foregrounds. Existing indoor datasets mostly assume rigid motions, so the trained models cannot robustly handle scenes with non-rigid motions. On the other…

Most video person re-identification (re-ID) methods are mainly based on supervised learning, which requires cross-camera ID labeling. Since the cost of labeling increases dramatically as the number of cameras increases, it is difficult to…

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…

Diffeomorphic deformable multi-modal image registration is a challenging task which aims to bring images acquired by different modalities to the same coordinate space and at the same time to preserve the topology and the invertibility of…

Detection-free methods typically follow a coarse-to-fine pipeline, extracting image and point cloud features for patch-level matching and refining dense pixel-to-point correspondences. However, differences in feature channel attention…

Masked Autoencoders learn strong visual representations and achieve state-of-the-art results in several independent modalities, yet very few works have addressed their capabilities in multi-modality settings. In this work, we focus on point…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i.e. rotation matrix and translation vector) between two pointcloud dataset. The method improves the robustness of point…

We aim to develop a goal specification method that is semantically clear, spatially sensitive, domain-agnostic, and intuitive for human users to guide agent interactions in 3D environments. Specifically, we propose a novel cross-view goal…

Image-to-point cloud cross-modal Visual Place Recognition (VPR) is a challenging task where the query is an RGB image, and the database samples are LiDAR point clouds. Compared to single-modal VPR, this approach benefits from the widespread…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

Introducing BERT into cross-modal settings raises difficulties in its optimization for handling multiple modalities. Both the BERT architecture and training objective need to be adapted to incorporate and model information from different…

The recent application of deep learning technologies in medical image registration has exponentially decreased the registration time and gradually increased registration accuracy when compared to their traditional counterparts. Most of the…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

Point cloud registration has seen significant advancements with the application of deep learning techniques. However, existing approaches often overlook the potential of integrating radiometric information from RGB images. This limitation…

Multimodal text-to-image generation remains constrained by the difficulty of maintaining semantic alignment and professional-level detail across diverse visual domains. We propose a multi-agent reinforcement learning framework that…

The method for image-to-point cloud registration typically determines the rigid transformation using a coarse-to-fine pipeline. However, directly and uniformly matching image patches with point cloud patches may lead to focusing on…