相关论文: UniPR-3D: Towards Universal Visual Place Recogniti…

Geometry estimation from perspective images has greatly advanced, maturing to the point where off-the-shelf foundation models are able to reconstruct 3D scene structure not only from multi-view imagery, but even from a single view. A…

Multi-view camera-only 3D object detection largely follows two primary paradigms: exploiting bird's-eye-view (BEV) representations or focusing on perspective-view (PV) features, each with distinct advantages. Although several recent…

Visual place recognition (VPR), a fundamental task in computer vision and robotics, is the problem of identifying a place mainly based on visual information. Viewpoint and appearance changes, such as due to weather and seasonal variations,…

3D Visual Grounding (3DVG) aims to locate objects in 3D scenes based on text prompts, which is essential for applications such as robotics. However, existing 3DVG methods encounter two main challenges: first, they struggle to handle the…

Visual place recognition has gained significant attention in recent years as a crucial technology in autonomous driving and robotics. Currently, the two main approaches are the perspective view retrieval (P2P) paradigm and the…

We present UniPlane, a novel method that unifies plane detection and reconstruction from posed monocular videos. Unlike existing methods that detect planes from local observations and associate them across the video for the final…

Visual Place Recognition (VPR) is a crucial capability for long-term autonomous robots, enabling them to identify previously visited locations using visual information. However, existing methods remain limited in indoor settings due to the…

Visual place recognition (VPR) is an important component technology for camera-based mapping and navigation applications. This is a challenging problem because images of the same place may appear quite different for reasons including…

Thanks to its precise spatial referencing, 3D point cloud visual grounding is essential for deep understanding and dynamic interaction in 3D environments, encompassing 3D Referring Expression Comprehension (3DREC) and Segmentation (3DRES).…

Road segmentation in challenging domains, such as night, snow or rain, is a difficult task. Most current approaches boost performance using fine-tuning, domain adaptation, style transfer, or by referencing previously acquired imagery. These…

Place Recognition is a crucial capability for mobile robot localization and navigation. Image-based or Visual Place Recognition (VPR) is a challenging problem as scene appearance and camera viewpoint can change significantly when places are…

3D object detection from multiple image views is a fundamental and challenging task for visual scene understanding. Due to its low cost and high efficiency, multi-view 3D object detection has demonstrated promising application prospects.…

Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…

We present UniScale, a unified, scale-aware multi-view 3D reconstruction framework for robotic applications that flexibly integrates geometric priors through a modular, semantically informed design. In vision-based robotic navigation, the…

Visual place recognition (VPR) is a fundamental task of computer vision for visual localization. Existing methods are trained using image pairs that either depict the same place or not. Such a binary indication does not consider continuous…

Ensuring accurate localization of robots in environments without GPS capability is a challenging task. Visual Place Recognition (VPR) techniques can potentially achieve this goal, but existing RGB-based methods are sensitive to changes in…

Deploying visual reinforcement learning (RL) policies in real-world manipulation is often hindered by camera viewpoint changes. A policy trained from a fixed front-facing camera may fail when the camera is shifted -- an unavoidable…

Visual Place Recognition (VPR) in areas with similar scenes such as urban or indoor scenarios is a major challenge. Existing VPR methods using global descriptors have difficulty capturing local specific regions (LSR) in the scene and are…

As the development of deep neural networks, 3D object recognition is becoming increasingly popular in computer vision community. Many multi-view based methods are proposed to improve the category recognition accuracy. These approaches…

Multi-view projection techniques have shown themselves to be highly effective in achieving top-performing results in the recognition of 3D shapes. These methods involve learning how to combine information from multiple view-points. However,…