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We introduce a novel method for oriented place recognition with 3D LiDAR scans. A Convolutional Neural Network is trained to extract compact descriptors from single 3D LiDAR scans. These can be used both to retrieve near-by place candidates…
Solid-state LiDAR-inertial SLAM has attracted significant attention due to its advantages in speed and robustness. However, achieving accurate mapping in extreme environments remains challenging due to severe geometric degeneracy and…
Extensive research efforts have been dedicated to deep learning based odometry. Nonetheless, few efforts are made on the unsupervised deep lidar odometry. In this paper, we design a novel framework for unsupervised lidar odometry with the…
We present a method to incorporate global orientation information from the sun into a visual odometry pipeline using only the existing image stream, where the sun is typically not visible. We leverage recent advances in Bayesian…
Convolutional Neural Networks (CNNs) have become the state-of-the-art in various computer vision tasks, but they are still premature for most sensor data, especially in pervasive and wearable computing. A major reason for this is the…
The growing demand for the internet of things (IoT) makes it necessary to implement computer vision tasks such as object recognition in low-power devices. Convolutional neural networks (CNNs) are a potential approach for object recognition…
Convolutional Neural Networks (CNNs) have revolutionized performances in several machine learning tasks such as image classification, object tracking, and keyword spotting. However, given that they contain a large number of parameters,…
LiDAR odometry is the task of estimating the ego-motion of the sensor from sequential laser scans. This problem has been addressed by the community for more than two decades, and many effective solutions are available nowadays. Most of…
In challenging environments where traditional sensing modalities struggle, in-air sonar offers resilience to optical interference. Placing a priori known landmarks in these environments can eliminate accumulated errors in autonomous mobile…
Researchers have increasingly adopted Transformer-based models for inertial odometry. While Transformers excel at modeling long-range dependencies, their limited sensitivity to local, fine-grained motion variations and lack of inherent…
A problem of image denoising when images are corrupted by a non-stationary noise is considered in this paper. Since in practice no a priori information on noise is available, noise statistics should be pre-estimated for image denoising. In…
Convolutional Neural Networks (CNNs) have shown to be powerful medical image segmentation models. In this study, we address some of the main unresolved issues regarding these models. Specifically, training of these models on small medical…
In this work, we propose a novel deep online correction (DOC) framework for monocular visual odometry. The whole pipeline has two stages: First, depth maps and initial poses are obtained from convolutional neural networks (CNNs) trained in…
Mesoscale eddies are of utmost importance in understanding ocean dynamics and the transport of heat, salt, and nutrients. Accurate representation of these eddies in ocean models is essential for improving model predictions. However,…
Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or…
Modern robotic platforms need a reliable localization system to operate daily beside humans. Simple pose estimation algorithms based on filtered wheel and inertial odometry often fail in the presence of abrupt kinematic changes and wheel…
The goal of this work is to replace objects in an RGB-D scene with corresponding 3D models from a library. We approach this problem by first detecting and segmenting object instances in the scene using the approach from Gupta et al. [13].…
Semantic place categorization, which is one of the essential tasks for autonomous robots and vehicles, allows them to have capabilities of self-decision and navigation in unfamiliar environments. In particular, outdoor places are more…
Ego-motion estimation is a fundamental requirement for most mobile robotic applications. By sensor fusion, we can compensate the deficiencies of stand-alone sensors and provide more reliable estimations. We introduce a tightly coupled…
Making accurate motion prediction of surrounding agents such as pedestrians and vehicles is a critical task when robots are trying to perform autonomous navigation tasks. Recent research on multi-modal trajectory prediction, including…