相关论文: Self-Supervised Cross-Modal Learning for Image-to-…

This paper tries to address a fundamental question in point cloud self-supervised learning: what is a good signal we should leverage to learn features from point clouds without annotations? To answer that, we introduce a point cloud…

Recent investigations on rotation invariance for 3D point clouds have been devoted to devising rotation-invariant feature descriptors or learning canonical spaces where objects are semantically aligned. Examinations of learning frameworks…

In this paper, we propose a coarse-to-fine integration solution inspired by the classical ICP algorithm, to pairwise 3D point cloud registration with two improvements of hybrid metric spaces (eg, BSC feature and Euclidean geometry spaces)…

With the overwhelming trend of mask image modeling led by MAE, generative pre-training has shown a remarkable potential to boost the performance of fundamental models in 2D vision. However, in 3D vision, the over-reliance on…

Partial point cloud registration is a challenging problem in robotics, especially when the robot undergoes a large transformation, causing a significant initial pose error and a low overlap between measurements. This work proposes…

Domain adaptation is an important task to enable learning when labels are scarce. While most works focus only on the image modality, there are many important multi-modal datasets. In order to leverage multi-modality for domain adaptation,…

This work studies the problem of unsupervised RGB-D point cloud registration, which aims at training a robust registration model without ground-truth pose supervision. Existing methods usually leverages unposed RGB-D sequences and adopt a…

Point cloud registration based on correspondences computes the rigid transformation that maximizes the number of inliers constrained within the noise threshold. Current state-of-the-art (SOTA) methods employing spatial compatibility graphs…

Patch-to-point matching has become a robust way of point cloud registration. However, previous patch-matching methods employ superpoints with poor localization precision as nodes, which may lead to ambiguous patch partitions. In this paper,…

We present a fast feature-metric point cloud registration framework, which enforces the optimisation of registration by minimising a feature-metric projection error without correspondences. The advantage of the feature-metric projection…

Cross-modal retrieval between visual data and natural language description remains a long-standing challenge in multimedia. While recent image-text retrieval methods offer great promise by learning deep representations aligned across…

LiDAR and photogrammetry are active and passive remote sensing techniques for point cloud acquisition, respectively, offering complementary advantages and heterogeneous. Due to the fundamental differences in sensing mechanisms, spatial…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods bypass the detection of repeatable keypoints which is difficult in low-overlap scenarios, showing great potential in…

Visual localization plays an important role for intelligent robots and autonomous driving, especially when the accuracy of GNSS is unreliable. Recently, camera localization in LiDAR maps has attracted more and more attention for its low…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

A key question in the problem of 3D reconstruction is how to train a machine or a robot to model 3D objects. Many tasks like navigation in real-time systems such as autonomous vehicles directly depend on this problem. These systems usually…

Medical image-to-image (I2I) translation enables virtual scanning, i.e. the synthesis of a target imaging modality from a source one without additional acquisitions. Despite growing interest, most proposed methods operate on 2D slices, are…

Text-to-Image (T2I) synthesis is a challenging task that requires modeling complex interactions between two modalities ( i.e., text and image). A common framework adopted in recent state-of-the-art approaches to achieving such multimodal…

As a promising scheme of self-supervised learning, masked autoencoding has significantly advanced natural language processing and computer vision. Inspired by this, we propose a neat scheme of masked autoencoders for point cloud…