Related papers: DCT Maps: Compact Differentiable Lidar Maps Based …
Place recognition is a challenging problem in mobile robotics, especially in unstructured environments or under viewpoint and illumination changes. Most LiDAR-based methods rely on geometrical features to overcome such challenges, as…
Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through…
The strong demand of autonomous driving in the industry has lead to strong interest in 3D object detection and resulted in many excellent 3D object detection algorithms. However, the vast majority of algorithms only model single-frame data,…
Image compression has been a frequent topic of presentations at ADASS. Compression is often viewed as just a technique to fit more data into a smaller space. Rather, the packing of data - its "density" - affects every facet of local data…
An orthogonal 16-point approximate discrete cosine transform (DCT) is introduced. The proposed transform requires neither multiplications nor bit-shifting operations. A fast algorithm based on matrix factorization is introduced, requiring…
Robust local feature representations are essential for spatial intelligence tasks such as robot navigation and augmented reality. Establishing reliable correspondences requires descriptors that provide both high discriminative power and…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…
Mapping and localization, preferably from a small number of observations, are fundamental tasks in robotics. We address these tasks by combining spatial structure (differentiable mapping) and end-to-end learning in a novel neural network…
The discrete cosine transform (DCT) is a central tool for image and video coding because it can be related to the Karhunen-Lo\`eve transform (KLT), which is the optimal transform in terms of retained transform coefficients and data…
Tubular structure segmentation in medical images, e.g., segmenting vessels in CT scans, serves as a vital step in the use of computers to aid in screening early stages of related diseases. But automatic tubular structure segmentation in CT…
This work proposes a new method to accurately complete sparse LiDAR maps guided by RGB images. For autonomous vehicles and robotics the use of LiDAR is indispensable in order to achieve precise depth predictions. A multitude of applications…
Understanding the morphological structure of medical images and precisely segmenting the region of interest or abnormality is an important task that can assist in diagnosis. However, the unique properties of medical imaging make clear…
Distribution-to-Distribution (D2D) point cloud registration algorithms are fast, interpretable, and perform well in unstructured environments. Unfortunately, existing strategies for predicting solution error for these methods are overly…
Depth completion recovers a dense depth map from sensor measurements. Current methods are mostly tailored for very sparse depth measurements from LiDARs in outdoor settings, while for indoor scenes Time-of-Flight (ToF) or structured light…
Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…
LiDAR and cameras are two complementary sensors for 3D perception in autonomous driving. LiDAR point clouds have accurate spatial and geometry information, while RGB images provide textural and color data for context reasoning. To exploit…
Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…
This paper proposes LONER, the first real-time LiDAR SLAM algorithm that uses a neural implicit scene representation. Existing implicit mapping methods for LiDAR show promising results in large-scale reconstruction, but either require…
Recent Transformer-based methods have achieved advanced performance in point cloud registration by utilizing advantages of the Transformer in order-invariance and modeling dependency to aggregate information. However, they still suffer from…
LiDAR based place recognition is popular for loop closure detection and re-localization. In recent years, deep learning brings improvements to place recognition by learnable feature extraction. However, these methods degenerate when the…