6 papers
IGASA: Integrated Geometry-Aware and Skip-Attention Modules for Enhanced Point Cloud Registration
Dongxu Zhang, Jihua Zhu, Shiqi Li +4
Point cloud registration (PCR) is a fundamental task in 3D vision and provides essential support for applications such as autonomous driving, robotics, and environmental modeling.…
SlimComm: Doppler-Guided Sparse Queries for Bandwidth-Efficient Cooperative 3-D Perception
Melih Yazgan, Qiyuan Wu, Iramm Hamdard +2
Collaborative perception allows connected autonomous vehicles (CAVs) to overcome occlusion and limited sensor range by sharing intermediate features. Yet transmitting dense Bird's-…
Matching Distance and Geometric Distribution Aided Learning Multiview Point Cloud Registration
Shiqi Li, Jihua Zhu, Yifan Xie +2
Multiview point cloud registration plays a crucial role in robotics, automation, and computer vision fields. This paper concentrates on pose graph construction and motion synchroni…
3D-JEPA: A Joint Embedding Predictive Architecture for 3D Self-Supervised Representation Learning
Naiwen Hu, Haozhe Cheng, Yifan Xie +2
Invariance-based and generative methods have shown a conspicuous performance for 3D self-supervised representation learning (SSRL). However, the former relies on hand-crafted data…
Multiple Rotation Averaging with Constrained Reweighting Deep Matrix Factorization
Shiqi Li, Jihua Zhu, Yifan Xie +4
Multiple rotation averaging plays a crucial role in computer vision and robotics domains. The conventional optimization-based methods optimize a nonlinear cost function based on ce…
Incremental Multiview Point Cloud Registration with Two-stage Candidate Retrieval
Shiqi Li, Jihua Zhu, Yifan Xie +1
Multiview point cloud registration serves as a cornerstone of various computer vision tasks. Previous approaches typically adhere to a global paradigm, where a pose graph is initia…