相关论文: FS-I2P:A Hierarchical Focus-Sweep Registration Net…

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…

Bridging 2D and 3D sensor modalities is critical for robust perception in autonomous systems. However, image-to-point cloud (I2P) registration remains challenging due to the semantic-geometric gap between texture-rich but depth-ambiguous…

Image-to-point-cloud registration (I2P) is a fundamental task in robotic applications such as manipulation,grasping, and localization. Existing deep learning-based I2P methods seek to align image and point cloud features in a learned…

Learning cross-modal correspondences is essential for image-to-point cloud (I2P) registration. Existing methods achieve this mostly by utilizing metric learning to enforce feature alignment across modalities, disregarding the inherent…

Detection-free methods typically follow a coarse-to-fine pipeline, extracting image and point cloud features for patch-level matching and refining dense pixel-to-point correspondences. However, differences in feature channel attention…

This paper presents DeepI2P: a novel approach for cross-modality registration between an image and a point cloud. Given an image (e.g. from a rgb-camera) and a general point cloud (e.g. from a 3D Lidar scanner) captured at different…

Image-to-point cloud registration seeks to estimate their relative camera pose, which remains an open question due to the data modality gaps. The recent matching-based methods tend to tackle this by building 2D-3D correspondences. In this…

Motivated by the intuition that the critical step of localizing a 2D image in the corresponding 3D point cloud is establishing 2D-3D correspondence between them, we propose the first feature-based dense correspondence framework for…

Image-to-point cloud (I2P) registration is a fundamental task for robots and autonomous vehicles to achieve cross-modality data fusion and localization. Current I2P registration methods primarily focus on estimating correspondences at the…

Depth map records distance between the viewpoint and objects in the scene, which plays a critical role in many real-world applications. However, depth map captured by consumer-grade RGB-D cameras suffers from low spatial resolution. Guided…

Along with the advancements in artificial intelligence technologies, image-to-point-cloud registration (I2P) techniques have made significant strides. Nevertheless, the dimensional differences in the features of points cloud…

Outdoor LiDAR point clouds are typically large-scale and complexly distributed. To achieve efficient and accurate registration, emphasizing the similarity among local regions and prioritizing global local-to-local matching is of utmost…

Typical detection-free methods for image-to-point cloud registration leverage transformer-based architectures to aggregate cross-modal features and establish correspondences. However, they often struggle under challenging conditions, where…

Deep learning-based feature matching has shown great superiority for point cloud registration in the absence of pose priors. Although coarse-to-fine matching approaches are prevalent, the coarse matching of existing methods is typically…

Category-level object pose and shape estimation from a single depth image has recently drawn research attention due to its potential utility for tasks such as robotics manipulation. The task is particularly challenging because the three…

Effective feature fusion of multispectral images plays a crucial role in multi-spectral object detection. Previous studies have demonstrated the effectiveness of feature fusion using convolutional neural networks, but these methods are…

With the rapid advancement of diffusion-based generative models, Stable Diffusion (SD) has emerged as a state-of-the-art framework for high-fidelity im-age synthesis. However, existing SD models suffer from suboptimal feature aggregation,…

Multimodal 3D object detection based on deep neural networks has indeed made significant progress. However, it still faces challenges due to the misalignment of scale and spatial information between features extracted from 2D images and…

Feature fusion, the combination of features from different layers or branches, is an omnipresent part of modern network architectures. It is often implemented via simple operations, such as summation or concatenation, but this might not be…

Standard registration algorithms need to be independently applied to each surface to register, following careful pre-processing and hand-tuning. Recently, learning-based approaches have emerged that reduce the registration of new scans to…