相关论文: LiDAR Registration with Visual Foundation Models

Purpose: In laparoscopic liver surgery (LLS), pre-operative information can be overlaid onto the intra-operative scene by registering a 3D pre-operative model to the intra-operative partial surface reconstructed from the laparoscopic video.…

Using geometric landmarks like lines and planes can increase navigation accuracy and decrease map storage requirements compared to commonly-used LiDAR point cloud maps. However, landmark-based registration for applications like loop closure…

Keypoint detection and description play a pivotal role in various robotics and autonomous applications including visual odometry (VO), visual navigation, and Simultaneous localization and mapping (SLAM). While a myriad of keypoint detectors…

LiDAR has become one of the primary sensors in robotics and autonomous system for high-accuracy situational awareness. In recent years, multi-modal LiDAR systems emerged, and among them, LiDAR-as-a-camera sensors provide not only 3D point…

Point cloud registration is a prerequisite for many applications in computer vision and robotics. Most existing methods focus on pairwise registration of two point clouds with high overlap. Although there have been some methods for low…

Estimating the rigid transformation between two LiDAR scans through putative 3D correspondences is a typical point cloud registration paradigm. Current 3D feature matching approaches commonly lead to numerous outlier correspondences, making…

Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

This paper proposes SOLVR, a unified pipeline for learning based LiDAR-Visual re-localisation which performs place recognition and 6-DoF registration across sensor modalities. We propose a strategy to align the input sensor modalities by…

Place recognition is a challenging problem in mobile robotics, especially in unstructured environments or under viewpoint and illumination changes. Most LiDAR-based methods rely on geometrical features to overcome such challenges, as…

As an essential procedure of data fusion, LiDAR-camera calibration is critical for autonomous vehicles and robot navigation. Most calibration methods rely on hand-crafted features and require significant amounts of extracted features or…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

Point cloud registration aligns 3D point clouds using spatial transformations. It is an important task in computer vision, with applications in areas such as augmented reality (AR) and medical imaging. This work explores the intersection of…

Applications based on synergistic integration of optical imagery and LiDAR data are receiving a growing interest from the remote sensing community. However, a misaligned integration between these datasets may fail to fully profit the…

In recent years, computer vision has transformed fields such as medical imaging, object recognition, and geospatial analytics. One of the fundamental tasks in computer vision is semantic image segmentation, which is vital for precise object…

Birds Eye View perception models require extensive data to perform and generalize effectively. While traditional datasets often provide abundant driving scenes from diverse locations, this is not always the case. It is crucial to maximize…

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…

Distribution-to-distribution (D2D) point cloud registration techniques such as the Normal Distributions Transform (NDT) can align point clouds sampled from unstructured scenes and provide accurate bounds of their own solution error…

The Discriminative Optimization (DO) algorithm has been proved much successful in 3D point cloud registration. In the original DO, the feature (descriptor) of two point cloud was defined as a histogram, and the element of histogram…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…