相关论文: LiDAR Registration with Visual Foundation Models

Existing medical image registration algorithms rely on either dataset specific training or local texture-based features to align images. The former cannot be reliably implemented without large modality-specific training datasets, while the…

LiDAR point clouds contain measurements of complicated natural scenes and can be used to update digital elevation models, glacial monitoring, detecting faults and measuring uplift detecting, forest inventory, detect shoreline and beach…

Point cloud registration is a fundamental problem in 3D computer vision. Outdoor LiDAR point clouds are typically large-scale and complexly distributed, which makes the registration challenging. In this paper, we propose an efficient…

We often encounter limited FOV situations due to various factors such as sensor fusion or sensor mount in real-world robot navigation. However, the limited FOV interrupts the generation of descriptions and impacts place recognition…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

Point cloud rigid registration is a fundamental problem in 3D computer vision. In the multiview case, we aim to find a set of 6D poses to align a set of objects. Methods based on pairwise registration rely on a subsequent synchronization…

Cross-modality registration between 2D images from cameras and 3D point clouds from LiDARs is a crucial task in computer vision and robotic. Previous methods estimate 2D-3D correspondences by matching point and pixel patterns learned by…

Poles and building edges are frequently observable objects on urban roads, conveying reliable hints for various computer vision tasks. To repetitively extract them as features and perform association between discrete LiDAR frames for…

Event cameras are bio-inspired sensors with some notable features, including high dynamic range and low latency, which makes them exceptionally suitable for perception in challenging scenarios such as high-speed motion and extreme lighting…

Point cloud registration is a common step in many 3D computer vision tasks such as object pose estimation, where a 3D model is aligned to an observation. Classical registration methods generalize well to novel domains but fail when given a…

Many types of 3D acquisition sensors have emerged in recent years and point cloud has been widely used in many areas. Accurate and fast registration of cross-source 3D point clouds from different sensors is an emerged research problem in…

Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…

Micro-aerial vehicles (MAVs) are becoming ubiquitous across multiple industries and application domains. Lightweight MAVs with only an onboard flight controller and a minimal sensor suite (e.g., IMU, vision, and vertical ranging sensors)…

We study the problem of aligning a video that captures a local portion of an environment to the 2D LiDAR scan of the entire environment. We introduce a method (VioLA) that starts with building a semantic map of the local scene from the…

Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous driving. Nowadays deep learning methods can be trained to match a pair of point clouds, given the transformation between them. However,…

Recognizing places using Lidar in large-scale environments is challenging due to the sparse nature of point cloud data. In this paper we present BVMatch, a Lidar-based frame-to-frame place recognition framework, that is capable of…

We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm. Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise alignment and the globally consistent refinement. The…

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…

One key vertical application that will be enabled by 6G is the automation of the processes with the increased use of robots. As a result, sensing and localization of the surrounding environment becomes a crucial factor for these robots to…

Compared to abstract features, significant objects, so-called landmarks, are a more natural means for vehicle localization and navigation, especially in challenging unstructured environments. The major challenge is to recognize landmarks in…