相关论文: ViGG: Robust RGB-D Point Cloud Registration using …

3D Visual Grounding (3DVG) involves localizing target objects in 3D point clouds based on natural language. While prior work has made strides using textual descriptions, leveraging spoken language-known as Audio-based 3D Visual…

We can use a method called registration to integrate some point clouds that represent the shape of the real world. In this paper, we propose highly accurate and stable registration method. Our method detects keypoints from point clouds and…

With the rise in consumer depth cameras, a wealth of unlabeled RGB-D data has become available. This prompts the question of how to utilize this data for geometric reasoning of scenes. While many RGB-D registration meth- ods rely on…

Point cloud registration sits at the core of many important and challenging 3D perception problems including autonomous navigation, SLAM, object/scene recognition, and augmented reality. In this paper, we present a new registration…

Visual place classification from a first-person-view monocular RGB image is a fundamental problem in long-term robot navigation. A difficulty arises from the fact that RGB image classifiers are often vulnerable to spatial and appearance…

In this paper, we introduce PCR-CG: a novel 3D point cloud registration module explicitly embedding the color signals into the geometry representation. Different from previous methods that only use geometry representation, our module is…

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,…

In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…

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…

Pairwise point cloud registration is a critical task for many applications, which heavily depends on finding correct correspondences from the two point clouds. However, the low overlap between input point clouds causes the registration to…

In the RGB-D vision community, extensive research has been focused on designing multi-modal learning strategies and fusion structures. However, the complementary and fusion mechanisms in RGB-D models remain a black box. In this paper, we…

2D face recognition encounters challenges in unconstrained environments due to varying illumination, occlusion, and pose. Recent studies focus on RGB-D face recognition to improve robustness by incorporating depth information. However,…

As a critical task in autonomous driving perception systems, 3D object detection is used to identify and track key objects, such as vehicles and pedestrians. However, detecting distant, small, or occluded objects (hard instances) remains a…

Accurate classification of objects in 3D point clouds is a significant problem in several applications, such as autonomous navigation and augmented/virtual reality scenarios, which has become a research hot spot. In this paper, we presented…

The accurate identification of high-quality correspondences is a prerequisite task in feature-based point cloud registration. However, it is extremely challenging to handle the fusion of local and global features due to feature redundancy…

Image-to-point-cloud (I2P) registration aims to align 2D images with 3D point clouds by establishing reliable 2D-3D correspondences. The drastic modality gap between images and point clouds makes it challenging to learn features that are…

Probabilistic point cloud registration methods are becoming more popular because of their robustness. However, unlike point-to-plane variants of iterative closest point (ICP) which incorporate local surface geometric information such as…

Recently, learning multi-view neural surface reconstruction with the supervision of point clouds or depth maps has been a promising way. However, due to the underutilization of prior information, current methods still struggle with the…

Robust point cloud registration in real-time is an important prerequisite for many mapping and localization algorithms. Traditional methods like ICP tend to fail without good initialization, insufficient overlap or in the presence of…

Unified segmentation of 3D point clouds is crucial for scene understanding, but is hindered by its sparse structure, limited annotations, and the challenge of distinguishing fine-grained object classes in complex environments. Existing…