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

Registration algorithms, such as Iterative Closest Point (ICP), have proven effective in mobile robot localization algorithms over the last decades. However, they are susceptible to failure when a robot sustains extreme velocities and…

Place recognition is an important technique for autonomous cars to achieve full autonomy since it can provide an initial guess to online localization algorithms. Although current methods based on images or point clouds have achieved…

3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…

To alleviate the high annotation cost in LiDAR-based 3D object detection, active learning is a promising solution that learns to select only a small portion of unlabeled data to annotate, without compromising model performance. Our…

Cross-modal 3D retrieval is a critical yet challenging task, aiming to achieve bi-directional retrieval between 3D and text modalities. Current methods predominantly rely on a certain 3D representation (e.g., point cloud), with few…

Recently, the application of deep learning in image colorization has received widespread attention. The maturation of diffusion models has further advanced the development of image colorization models. However, current mainstream image…

LiDAR and photogrammetry are active and passive remote sensing techniques for point cloud acquisition, respectively, offering complementary advantages and heterogeneous. Due to the fundamental differences in sensing mechanisms, spatial…

Misalignments between multi-modality images pose challenges in image fusion, manifesting as structural distortions and edge ghosts. Existing efforts commonly resort to registering first and fusing later, typically employing two cascaded…

In this paper we explore the recent topic of point cloud completion, guided by an auxiliary image. We show how it is possible to effectively combine the information from the two modalities in a localized latent space, thus avoiding the need…

The introduction of cheap RGB-D cameras, stereo cameras, and LIDAR devices has given the computer vision community 3D information that conventional RGB cameras cannot provide. This data is often stored as a point cloud. In this paper, we…

In this paper, we present a novel approach for multiview point cloud registration. Different from previous researches that typically employ a global scheme for multiview registration, we propose to adopt an incremental pipeline to…

Robust and discriminative feature learning is critical for high-quality point cloud registration. However, existing deep learning-based methods typically rely on Euclidean neighborhood-based strategies for feature extraction, which struggle…

Sensing the medical scenario can ensure the safety during the surgical operations. So, in this regard, a monitor platform which can obtain the accurate location information of the surgery room is desperately needed. Compared to 2D camera…

Multimodal image registration (MIR) is a fundamental procedure in many image-guided therapies. Recently, unsupervised learning-based methods have demonstrated promising performance over accuracy and efficiency in deformable image…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

Aligning partial views of a scene into a single whole is essential to understanding one's environment and is a key component of numerous robotics tasks such as SLAM and SfM. Recent approaches have proposed end-to-end systems that can…

Image-to-point-cloud registration (I2P) is a fundamental task in robotic applications such as manipulation,grasping, and localization. Existing deep learning-based I2P methods seek to align image and point cloud features in a learned…

Retrieval is being redefined by agentic AI, demanding multimodal reasoning beyond conventional similarity-based paradigms. Composed Image Retrieval (CIR) exemplifies this shift as each query combines a reference image with textual…

Custom Storyboard Generation (CSG) aims to produce high-quality, multi-character consistent storytelling. Current approaches based on static diffusion models, whether used in a one-shot manner or within multi-agent frameworks, face three…

Storing and transmitting LiDAR point cloud data is essential for many AV applications, such as training data collection, remote control, cloud services or SLAM. However, due to the sparsity and unordered structure of the data, it is…