Geometry-Aligned Semantic Matching for Cross-Modal Planar Image Registration proposes CDPM, a method that first aligns semantic representations across modalities and then refines correspondences with fine-grained CNN features. CDPM adapts DINOv3 using geometrically consistent cross-modal patch pairs, builds a DINO-Centric Feature Pyramid for stable cross-modal matching, and adds a lightweight CNN branch for precise local refinement. Experiments on three cross-modal datasets show that CDPM outperforms existing dense matchers, improving AUC metrics and reducing mACE while using fewer FLOPs.
arXiv:2609.00272v1 Announce Type: new Abstract: Most advances in keypoint descriptions address monomodal settings, where image variations arise from viewpoint, illumination, or contrast changes. Mult...
The paper introduces DPA-I2P, a depth-guided projective alignment method for image-to-point-cloud registration in autonomous driving. It employs Ray-Conditioned Metric Depth Encoding and Projection-Consistent Vision Lifting to align depth and visual cues geometrically, and uses Cross-Modal Query Pruning to enhance matching stability. Experiments on KITTI and nuScenes show significant reductions in rotation and translation errors compared to existing implicit baselines.
DXPR is a depth‑based cross‑modal place recognition framework that matches monocular camera queries to a LiDAR map using a single vision foundation model backbone. By converting both modalities into a unified depth image representation, DXPR learns modality‑invariant global descriptors without modality‑specific encoders. A geometry‑aware overlap miner refines pairwise metric learning by computing pixel‑level overlap scores, and extensive tests on KITTI and Boreas show strong performance across seasons, weather, and day/night conditions, outperforming prior CMPR baselines.
Vision Foundation Models (VFMs) have significantly advanced dense feature matching, yet severe in-plane rotation remains a critical challenge. Existing solutions face a fundamental dilemma: data-driven methods require inefficient parameter scaling to implicitly learn rotations, whereas strictly equivariant networks lack the semantic capacity of modern VFMs.
arXiv:2609.09507v1 Announce Type: new Abstract: Learned image matching has experienced significant progress in recent years, culminating in robust and accurate matchers such as RoMa, whose robustness...
CALIPER is a model‑free RGB‑D framework that performs fine‑grained recognition of visually similar industrial parts by combining support‑based appearance matching with metric size evidence. Each class is onboarded from a single turntable RGB‑D video and a few labeled real images, enabling 3D reconstruction for appearance support and depth‑aligned size profiling. At inference, a YOLOv8n‑seg model localizes parts, a frozen DINOv2 backbone with an episodically trained embedding head matches support, and margin‑conditioned metric fusion selectively uses size evidence for ambiguous cases, achieving high accuracy on 18 parts and robust enrollment of unseen screws without retraining.
SUFLECA is a weakly supervised framework that improves zero‑shot CAD‑to‑image alignment by scaling geometry‑grounded feature learning using Normalized Object Coordinates across up to 12 real and synthetic datasets. It introduces a geometrically consistent matching algorithm that reliably establishes CAD‑to‑image correspondences, enabling accurate, sub‑second alignment without iterative pose refinement. On the ScanNet25k benchmark, SUFLECA achieves 32.8%/42.6% category/instance accuracy, outperforming the strongest zero‑shot baseline by 9.7/12.5 percentage points and surpassing existing pose‑supervised methods for the first time.
arXiv:2609.16603v1 Announce Type: new Abstract: Full-context neural visual geometry is impractical for thousands of images, while sequence-based chunking poorly captures irregular non-local overlap i...
arXiv:2609.12723v1 Announce Type: new Abstract: Floorplans arise in many forms, from vector CAD drawings to raster renderings and sensor-derived density maps. This heterogeneity makes it difficult to...
arXiv:2608. 19536v1 Announce Type: cross Abstract: Learning-based global point cloud registration has achieved remarkable progress, yet its reliance on geometric representations makes existing methods sensitive to variations in point density, scan pattern, viewpoint, and sensor characteristics.
Cross-modal place recognition (CMPR) aims to identify the same location across heterogeneous sensing modalities, such as vision and LiDAR. Existing methods commonly bridge the modality gap using complex alignment modules, multi-stage training, or full fine-tuning of pretrained backbones.
arXiv:2608.29733v1 Announce Type: new Abstract: Visual aliasing, also known as the doppelganger problem, remains a key challenge for structure-from-motion (SfM): visually similar but physically disti...