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

Learning robust feature matching between the template and search area is crucial for 3D Siamese tracking. The core of Siamese feature matching is how to assign high feature similarity on the corresponding points between the template and…

3D change detection from multi-view images is essential for urban monitoring, disaster assessment, and autonomous driving. However, existing methods predominantly operate in the 2D domain, where viewpoint variations are mistaken for…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

Multi-view point cloud registration is fundamental in 3D reconstruction. Since there are close connections between point clouds captured from different viewpoints, registration performance can be enhanced if these connections be harnessed…

Object tracking based on the fusion of visible and thermal im-ages, known as RGB-T tracking, has gained increasing atten-tion from researchers in recent years. How to achieve a more comprehensive fusion of information from the two…

We describe a novel approach to indoor place recognition from RGB point clouds based on aggregating low-level colour and geometry features with high-level implicit semantic features. It uses a 2-stage deep learning framework, in which the…

Point clouds captured by different sensors such as RGB-D cameras and LiDAR possess non-negligible domain gaps. Most existing methods design different network architectures and train separately on point clouds from various sensors.…

RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…

Reconstruction of geometric structures from images using supervised learning suffers from limited available amount of accurate data. One type of such data is accurate real-world RGB-D images. A major challenge in acquiring such ground truth…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

Visual Grounding (VG) aims to locate the most relevant region in an image, based on a flexible natural language query but not a pre-defined label, thus it can be a more useful technique than object detection in practice. Most…

In robotic inspection, joint registration of multiple point clouds is an essential technique for estimating the transformation relationships between measured parts, such as multiple blades in a propeller. However, the presence of noise and…

This paper reports on a novel nonparametric rigid point cloud registration framework that jointly integrates geometric and semantic measurements such as color or semantic labels into the alignment process and does not require explicit data…

Addressing the challenges posed by the substantial gap in point cloud data collected from diverse sensors, achieving robust cross-source point cloud registration becomes a formidable task. In response, we present a novel framework for point…

Current research on visual place recognition mostly focuses on aggregating local visual features of an image into a single vector representation. Therefore, high-level information such as the geometric arrangement of the features is…

Registration is a fundamental but critical task in point cloud processing, which usually depends on finding element correspondence from two point clouds. However, the finding of reliable correspondence relies on establishing a robust and…

Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains highly challenging in cluttered or occluded scenes. Existing…

Point cloud registration aligns 3D point clouds using spatial transformations. It is an important task in computer vision, with applications in areas such as augmented reality (AR) and medical imaging. This work explores the intersection of…

Correspondence search is an essential step in rigid point cloud registration algorithms. Most methods maintain a single correspondence at each step and gradually remove wrong correspondances. However, building one-to-one correspondence with…

Multiview point cloud registration plays a crucial role in robotics, automation, and computer vision fields. This paper concentrates on pose graph construction and motion synchronization within multiview registration. Previous methods for…