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

Point cloud analysis is a fundamental task in 3D computer vision. Most previous works have conducted experiments on synthetic datasets with well-aligned data; while real-world point clouds are often not pre-aligned. How to achieve rotation…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

To better address challenging issues of the irregularity and inhomogeneity inherently present in 3D point clouds, researchers have been shifting their focus from the design of hand-craft point feature towards the learning of 3D point…

Previous studies have demonstrated the effectiveness of point-based neural models on the point cloud analysis task. However, there remains a crucial issue on producing the efficient input embedding for raw point coordinates. Moreover,…

Self-supervised pre-training has achieved remarkable success in NLP and 2D vision. However, these advances have yet to translate to 3D data. Techniques like masked reconstruction face inherent challenges on unstructured point clouds, while…

Place recognition plays a crucial role in the fields of robotics and computer vision, finding applications in areas such as autonomous driving, mapping, and localization. Place recognition identifies a place using query sensor data and a…

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…

3D perception in LiDAR point clouds is crucial for a self-driving vehicle to properly act in 3D environment. However, manually labeling point clouds is hard and costly. There has been a growing interest in self-supervised pre-training of 3D…

Accurate vehicle localization is a critical challenge in urban environments where GPS signals are often unreliable. This paper presents a cooperative multi-sensor and multi-modal localization approach to address this issue by fusing data…

Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…

Hyperspectral image (HSI) clustering is a challenging task due to its high complexity. Despite subspace clustering shows impressive performance for HSI, traditional methods tend to ignore the global-local interaction in HSI data. In this…

Most multi-view clustering methods are limited by shallow models without sound nonlinear information perception capability, or fail to effectively exploit complementary information hidden in different views. To tackle these issues, we…

In recent years, three-dimensional point clouds are used increasingly to document natural environments. Each dataset contains a diverse set of objects, at varying shapes and sizes, distributed throughout the data and intricately intertwined…

In recent years, semi-supervised learning has been widely explored and shows excellent data efficiency for 2D data. There is an emerging need to improve data efficiency for 3D tasks due to the scarcity of labeled 3D data. This paper…

The Iterative Closest Point (ICP) algorithm is a crucial component of LiDAR-based SLAM algorithms. However, its performance can be negatively affected in unstructured environments that lack features and geometric structures, leading to low…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…

We present a new method for image salience prediction, Clustered Saliency Prediction. This method divides subjects into clusters based on their personal features and their known saliency maps, and generates an image salience model…

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…

To date, most place recognition methods focus on single-modality retrieval. While they perform well in specific environments, cross-modal methods offer greater flexibility by allowing seamless switching between map and query sources. It…

Real-world data often follow a long-tailed distribution with a high imbalance in the number of samples between classes. The problem with training from imbalanced data is that some background features, common to all classes, can be…