相关论文: Text2Loc++: Generalizing 3D Point Cloud Localizati…

Place recognition plays an essential role in the field of autonomous driving and robot navigation. Point cloud based methods mainly focus on extracting global descriptors from local features of point clouds. Despite having achieved…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

Exploring contextual information in the local region is important for shape understanding and analysis. Existing studies often employ hand-crafted or explicit ways to encode contextual information of local regions. However, it is hard to…

Shape-Text matching is an important task of high-level shape understanding. Current methods mainly represent a 3D shape as multiple 2D rendered views, which obviously can not be understood well due to the structural ambiguity caused by…

Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In…

In this paper, we present and study a new instance-level retrieval task: PointCloud-Text Matching (PTM), which aims to identify the exact cross-modal instance that matches a given point-cloud query or text query. PTM has potential…

Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is presented by achieving place recognition and metric pose estimation…

Text-to-point-cloud localization enables robots to understand spatial positions through natural language descriptions, which is crucial for human-robot collaboration in applications such as autonomous driving and last-mile delivery.…

The rise of large-scale models has catalyzed in-context learning as a powerful approach for multitasking, particularly in natural language and image processing. However, its application to 3D point cloud tasks has been largely unexplored.…

Robust point cloud registration is a fundamental task in 3D computer vision and geometric deep learning, essential for applications such as large-scale 3D reconstruction, augmented reality, and scene understanding. However, the performance…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

In this article we describe a new convolutional neural network (CNN) to classify 3D point clouds of urban or indoor scenes. Solutions are given to the problems encountered working on scene point clouds, and a network is described that…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

Open-world 3D scene understanding is a critical challenge that involves recognizing and distinguishing diverse objects and categories from 3D data, such as point clouds, without relying on manual annotations. Traditional methods struggle…

Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…

Image to point cloud global localization is crucial for robot navigation in GNSS-denied environments and has become increasingly important for multi-robot map fusion and urban asset management. The modality gap between images and point…

The goal of open-vocabulary detection is to identify novel objects based on arbitrary textual descriptions. In this paper, we address open-vocabulary 3D point-cloud detection by a dividing-and-conquering strategy, which involves: 1)…

Vector quantization has emerged as a powerful tool in large-scale multimodal models, unifying heterogeneous representations through discrete token encoding. However, its effectiveness hinges on robust codebook design. Current…

Point cloud segmentation is one of the most important tasks in computer vision with widespread scientific, industrial, and commercial applications. The research thereof has resulted in many breakthroughs in 3D object and scene…