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

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…

In this study, we introduce a new problem raised by social media and photojournalism, named Image Address Localization (IAL), which aims to predict the readable textual address where an image was taken. Existing two-stage approaches involve…

Aligning 3D scene graphs is a crucial initial step for several applications in robot navigation and embodied perception. Current methods in 3D scene graph alignment often rely on single-modality point cloud data and struggle with incomplete…

Image retrieval-based cross-view geo-localization (IRCVGL) aims to match images captured from significantly different viewpoints, such as satellite and street-level images. Existing methods predominantly rely on learning robust global…

Recent advances in multi-modal detection have significantly improved detection accuracy in challenging environments (e.g., low light, overexposure). By integrating RGB with modalities such as thermal and depth, multi-modal fusion increases…

Understanding dark scenes based on multi-modal image data is challenging, as both the visible and auxiliary modalities provide limited semantic information for the task. Previous methods focus on fusing the two modalities but neglect the…

Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such as the Iterative Closest Point (ICP) algorithm, can suffer…

Recent years have witnessed a big convergence of language, vision, and multi-modal pretraining. In this work, we present mPLUG-2, a new unified paradigm with modularized design for multi-modal pretraining, which can benefit from modality…

In recent years, attention mechanisms have significantly enhanced the performance of object detection by focusing on key feature information. However, prevalent methods still encounter difficulties in effectively balancing local and global…

Multi-modality image fusion and segmentation play a vital role in autonomous driving and robotic operation. Early efforts focus on boosting the performance for only one task, \emph{e.g.,} fusion or segmentation, making it hard to…

Feature descriptors of point clouds are used in several applications, such as registration and part segmentation of 3D point clouds. Learning discriminative representations of local geometric features is unquestionably the most important…

Although multi-modal learning has advanced point cloud completion, the theoretical mechanisms remain unclear. Recent works attribute success to the connection between modalities, yet we identify that standard hard projection severs this…

We tackle the problem of object-centric learning on point clouds, which is crucial for high-level relational reasoning and scalable machine intelligence. In particular, we introduce a framework, SPAIR3D, to factorize a 3D point cloud into a…

Multi-instance point cloud registration is the problem of estimating multiple poses of source point cloud instances within a target point cloud. Solving this problem is challenging since inlier correspondences of one instance constitute…

Downsampling and feature extraction are essential procedures for 3D point cloud understanding. Existing methods are limited by the inconsistent point densities of different parts in the point cloud. In this work, we analyze the limitation…

Saliency computation models aim to imitate the attention mechanism in the human visual system. The application of deep neural networks for saliency prediction has led to a drastic improvement over the last few years. However, deep models…

Clustering of hyperspectral images is a fundamental but challenging task. The recent development of hyperspectral image clustering has evolved from shallow models to deep and achieved promising results in many benchmark datasets. However,…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

It is challenging to reconstruct 3D point clouds in unseen classes from single 2D images. Instead of object-centered coordinate system, current methods generalized global priors learned in seen classes to reconstruct 3D shapes from unseen…