4 citations · 8 across the 42 of their papers we have counts for
29 papers · 1 filter
The Midas Touch for Metric Depth: Interpretable Metricization for Generalizable Depth Perception
Mengtan Zhang, Yu Ma, Shiqi Jiang +6
Recent foundation models have drastically improved the generalization of monocular relative depth estimation, yet recovering accurate metric depth from their estimates for depth pe…
G2IA: Geometry-Guided Instance-Aware Retrieval and Refinement for Cross-Modal Place Recognition
Xianyun Jiao, Jingyi Xu, Zhongmiao Yan +2
Cross-modal place recognition (CMPR) enables camera-only robots to localize against pre-built LiDAR maps in autonomous navigation scenarios. This image-to-point-cloud setting is ch…
TOL: Textual Localization with OpenStreetMap
Youqi Liao, Shuhao Kang, Jingyu Xu +6
Natural language provides an intuitive way to express spatial intent in geospatial applications. While existing localization methods often rely on dense point cloud maps or high-re…
GESS: Multi-cue Guided Local Feature Learning via Geometric and Semantic Synergy
Yang Yi, Xieyuanli Chen, Jinpu Zhang +2
Robust local feature detection and description are foundational tasks in computer vision. Existing methods primarily rely on single appearance cues for modeling, leading to unstabl…
MPTF-Net: Multi-view Pyramid Transformer Fusion Network for LiDAR-based Place Recognition
Shuyuan Li, Zihang Wang, Xieyuanli Chen +5
LiDAR-based place recognition (LPR) is essential for global localization and loop-closure detection in large-scale SLAM systems. Existing methods typically construct global descrip…
VLM-Loc: Localization in Point Cloud Maps via Vision-Language Models
Shuhao Kang, Youqi Liao, Peijie Wang +5
Text-to-point-cloud (T2P) localization aims to infer precise spatial positions within 3D point cloud maps from natural language descriptions, reflecting how humans perceive and com…
TAPFormer: Robust Arbitrary Point Tracking via Transient Asynchronous Fusion of Frames and Events
Jiaxiong Liu, Zhen Tan, Jinpu Zhang +4
Tracking any point (TAP) is a fundamental yet challenging task in computer vision, requiring high precision and long-term motion reasoning. Recent attempts to combine RGB frames an…
Efficient Point Cloud Processing with High-Dimensional Positional Encoding and Non-Local MLPs
Yanmei Zou, Hongshan Yu, Yaonan Wang +4
Multi-Layer Perceptron (MLP) models are the foundation of contemporary point cloud processing. However, their complex network architectures obscure the source of their strength and…
Training-Free Interaction-Aligned Visual Token Pruning for Efficient Embodied Manipulation
Jintao Cheng, Weibin Li, Haozhe Wang +7
Efficient visual representation is a central image-processing challenge in embodied manipulation, where policies repeatedly process dense visual-token sequences during closed-loop…
SinGeo: Unlock Single Model's Potential for Robust Cross-View Geo-Localization
Yang Chen, Xieyuanli Chen, Junxiang Li +2
Robust cross-view geo-localization (CVGL) remains challenging despite the surge in recent progress. Existing methods still rely on field-of-view (FoV)-specific training paradigms,…
VGGT-MPR: VGGT-Enhanced Multimodal Place Recognition in Autonomous Driving Environments
Jingyi Xu, Zhangshuo Qi, Zhongmiao Yan +5
In autonomous driving, robust place recognition is critical for global localization and loop closure detection. While inter-modality fusion of camera and LiDAR data in multimodal p…
Diffusion-Based Restoration for Multi-Modal 3D Object Detection in Adverse Weather
Zhijian He, Feifei Liu, Yuwei Li +4
Multi-modal 3D object detection is important for reliable perception in robotics and autonomous driving. However, its effectiveness remains limited under adverse weather conditions…
OMUDA: Omni-level Masking for Unsupervised Domain Adaptation in Semantic Segmentation
Yang Ou, Xiongwei Zhao, Xinye Yang +5
Unsupervised domain adaptation (UDA) enables semantic segmentation models to generalize from a labeled source domain to an unlabeled target domain. However, existing UDA methods st…
Uni-Hand: Universal Hand Motion Forecasting in Egocentric Views
Junyi Ma, Wentao Bao, Jingyi Xu +5
Forecasting how human hands move in egocentric views is critical for applications like augmented reality and human-robot policy transfer. Recently, several hand trajectory predicti…
A Pseudo Global Fusion Paradigm-Based Cross-View Network for LiDAR-Based Place Recognition
Jintao Cheng, Jiehao Luo, Xieyuanli Chen +4
LiDAR-based Place Recognition (LPR) remains a critical task in Embodied Artificial Intelligence (AI) and Autonomous Driving, primarily addressing localization challenges in GPS-den…
TVG-SLAM: Robust Gaussian Splatting SLAM with Tri-view Geometric Constraints
Zhen Tan, Xieyuanli Chen, Lei Feng +4
Recent advances in 3D Gaussian Splatting (3DGS) have enabled RGB-only SLAM systems to achieve high-fidelity scene representation. However, the heavy reliance of existing systems on…
Efficient Multimodal 3D Object Detector via Instance-Level Contrastive Distillation
Zhuoqun Su, Huimin Lu, Shuaifeng Jiao +3
Multimodal 3D object detectors leverage the strengths of both geometry-aware LiDAR point clouds and semantically rich RGB images to enhance detection performance. However, the inhe…
LuSeg: Efficient Negative and Positive Obstacles Segmentation via Contrast-Driven Multi-Modal Feature Fusion on the Lunar
Shuaifeng Jiao, Zhiwen Zeng, Zhuoqun Su +3
As lunar exploration missions grow increasingly complex, ensuring safe and autonomous rover-based surface exploration has become one of the key challenges in lunar exploration task…
Uncertainty-Aware Normal-Guided Gaussian Splatting for Surface Reconstruction from Sparse Image Sequences
Zhen Tan, Xieyuanli Chen, Jinpu Zhang +2
3D Gaussian Splatting (3DGS) has achieved impressive rendering performance in novel view synthesis. However, its efficacy diminishes considerably in sparse image sequences, where i…
A Novel Decomposed Feature-Oriented Framework for Open-Set Semantic Segmentation on LiDAR Data
Wenbang Deng, Xieyuanli Chen, Qinghua Yu +3
Semantic segmentation is a key technique that enables mobile robots to understand and navigate surrounding environments autonomously. However, most existing works focus on segmenti…
EDENet: Echo Direction Encoding Network for Place Recognition Based on Ground Penetrating Radar
Pengyu Zhang, Xieyuanli Chen, Yuwei Chen +5
Ground penetrating radar (GPR) based localization has gained significant recognition in robotics due to its ability to detect stable subsurface features, offering advantages in env…
Spatiotemporal Decoupling for Efficient Vision-Based Occupancy Forecasting
Jingyi Xu, Xieyuanli Chen, Junyi Ma +4
The task of occupancy forecasting (OCF) involves utilizing past and present perception data to predict future occupancy states of autonomous vehicle surrounding environments, which…
OSMLoc: Single Image-Based Visual Localization in OpenStreetMap with Fused Geometric and Semantic Guidance
Youqi Liao, Xieyuanli Chen, Shuhao Kang +4
OpenStreetMap (OSM), a rich and versatile source of volunteered geographic information (VGI), facilitates human self-localization and scene understanding by integrating nearby visu…
MADiff: Motion-Aware Mamba Diffusion Models for Hand Trajectory Prediction on Egocentric Videos
Junyi Ma, Xieyuanli Chen, Wentao Bao +2
Understanding human intentions and actions through egocentric videos is important on the path to embodied artificial intelligence. As a branch of egocentric vision techniques, hand…