相关论文: SaliencyI2PLoc: saliency-guided image-point cloud …

Bridging 2D and 3D sensor modalities is critical for robust perception in autonomous systems. However, image-to-point cloud (I2P) registration remains challenging due to the semantic-geometric gap between texture-rich but depth-ambiguous…

The majority of point cloud registration methods currently rely on extracting features from points. However, these methods are limited by their dependence on information obtained from a single modality of points, which can result in…

Image-to-point-cloud (I2P) registration aims to align 2D images with 3D point clouds by establishing reliable 2D-3D correspondences. The drastic modality gap between images and point clouds makes it challenging to learn features that are…

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…

This paper presents DeepI2P: a novel approach for cross-modality registration between an image and a point cloud. Given an image (e.g. from a rgb-camera) and a general point cloud (e.g. from a 3D Lidar scanner) captured at different…

Some self-supervised cross-modal learning approaches have recently demonstrated the potential of image signals for enhancing point cloud representation. However, it remains a question on how to directly model cross-modal local and global…

Graph clustering is essential in graph analysis for revealing structural patterns and node communities. Despite recent advances in self-supervised contrastive learning that have improved clustering via structural and attribute signals,…

Learning cross-modal correspondences is essential for image-to-point cloud (I2P) registration. Existing methods achieve this mostly by utilizing metric learning to enforce feature alignment across modalities, disregarding the inherent…

Image-to-point cloud (I2P) registration is a fundamental task for robots and autonomous vehicles to achieve cross-modality data fusion and localization. Current I2P registration methods primarily focus on estimating correspondences at the…

We tackle the problem of localizing 3D point cloud submaps using complex and diverse natural language descriptions, and present Text2Loc++, a novel neural network designed for effective cross-modal alignment between language and point…

In this paper, we address the problem of global-scale image geolocation, proposing a mixed classification-retrieval scheme. Unlike other methods that strictly tackle the problem as a classification or retrieval task, we combine the two…

Multimodal Prompt Learning (MPL) has emerged as a pivotal technique for adapting large-scale Visual Language Models (VLMs). However, current MPL methods are fundamentally limited by their optimization of a single, static point…

3D point-cloud recognition with PointNet and its variants has received remarkable progress. A missing ingredient, however, is the ability to automatically evaluate point-wise importance w.r.t.\! classification performance, which is usually…

3D contrastive representation learning has exhibited remarkable efficacy across various downstream tasks. However, existing contrastive learning paradigms based on cosine similarity fail to deeply explore the potential intra-modal…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

Learning discriminative shape representation directly on point clouds is still challenging in 3D shape analysis and understanding. Recent studies usually involve three steps: first splitting a point cloud into some local regions, then…

Recently Transformer-based models have advanced point cloud understanding by leveraging self-attention mechanisms, however, these methods often overlook latent information in less prominent regions, leading to increased sensitivity to…

Accurate localization is critical for vehicle-to-infrastructure (V2I) communication systems, especially in urban areas where GPS signals are often obstructed by tall buildings, leading to significant positioning errors, necessitating…

Place recognition is an important task for robots and autonomous cars to localize themselves and close loops in pre-built maps. While single-modal sensor-based methods have shown satisfactory performance, cross-modal place recognition that…

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…