相关论文: RE-TRIP : Reflectivity Instance Augmented Triangle…

Visual Place Recognition (VPR) enables coarse localization by comparing query images to a reference database of geo-tagged images. Recent breakthroughs in deep learning architectures and training regimes have led to methods with improved…

Visual Place Recognition (VPR) has been traditionally formulated as a single-image retrieval task. Using multiple views offers clear advantages, yet this setting remains relatively underexplored and existing methods often struggle to…

We introduce a novel method for oriented place recognition with 3D LiDAR scans. A Convolutional Neural Network is trained to extract compact descriptors from single 3D LiDAR scans. These can be used both to retrieve near-by place candidates…

Detecting persons using a 2D LiDAR is a challenging task due to the low information content of 2D range data. To alleviate the problem caused by the sparsity of the LiDAR points, current state-of-the-art methods fuse multiple previous scans…

People live in a 3D world. However, existing works on person re-identification (re-id) mostly consider the semantic representation learning in a 2D space, intrinsically limiting the understanding of people. In this work, we address this…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

LiDAR place recognition approaches based on deep learning suffer from significant performance degradation when there is a shift between the distribution of training and test datasets, often requiring re-training the networks to achieve peak…

Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong…

Transportation systems often rely on understanding the flow of vehicles or pedestrian. From traffic monitoring at the city scale, to commuters in train terminals, recent progress in sensing technology make it possible to use cameras to…

Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…

Reliable and accurate 3D object detection is a necessity for safe autonomous driving. Although LiDAR sensors can provide accurate 3D point cloud estimates of the environment, they are also prohibitively expensive for many settings.…

Detecting multiple structural breaks in high-dimensional data remains a challenge, particularly when changes occur in higher-order moments or within complex manifold structures. In this paper, we propose REAMP (Resonance-Enhanced Analysis…

Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…

In LiDAR sensing, glass, mirrors and other material often cause inconsistent data readings, because the laser beams may report the distance of the glass, the distance of the object behind the glass or the distance to a reflected object.…

Current efficient LiDAR-based detection frameworks are lacking in exploiting object relations, which naturally present in both spatial and temporal manners. To this end, we introduce a simple, efficient, and effective two-stage detector,…

Matching pedestrians across disjoint camera views, known as person re-identification (re-id), is a challenging problem that is of importance to visual recognition and surveillance. Most existing methods exploit local regions within spatial…

Image-to-point cloud cross-modal Visual Place Recognition (VPR) is a challenging task where the query is an RGB image, and the database samples are LiDAR point clouds. Compared to single-modal VPR, this approach benefits from the widespread…

Object 6D pose estimation, a crucial task for robotics and augmented reality applications, becomes particularly challenging when dealing with novel objects whose 3D models are not readily available. To reduce dependency on 3D models, recent…

Global place recognition and 3D relocalization are one of the most important components in the loop closing detection for 3D LiDAR Simultaneous Localization and Mapping (SLAM). In order to find the accurate global 6-DoF transform by feature…

Modeling the underlying person structure for person re-identification (re-ID) is difficult due to diverse deformable poses, changeable camera views and imperfect person detectors. How to exploit underlying person structure information…