Related papers: Robust Second-order LiDAR Bundle Adjustment Algori…
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…
Owing to the capability for reliable and all-weather long-range sensing, the fusion of LiDAR and Radar has been widely applied to autonomous vehicles for robust perception. In practical operation, well manually calibrated extrinsic…
Current object detection frameworks mainly rely on bounding box regression to localize objects. Despite the remarkable progress in recent years, the precision of bounding box regression remains unsatisfactory, hence limiting performance in…
Linear-array based photoacoustic images are reconstructed using the conventional delay-and-sum (DAS) beamforming method. Although the DAS beamformer is well suited for PA image formation, reconstructed images are often afflicted by noises,…
Unsupervised domain adaptation (UDA) in 3D segmentation tasks presents a formidable challenge, primarily stemming from the sparse and unordered nature of point cloud data. Especially for LiDAR point clouds, the domain discrepancy becomes…
Linear discriminant analysis (LDA) is a widely used algorithm in machine learning to extract a low-dimensional representation of high-dimensional data, it features to find the orthogonal discriminant projection subspace by using the Fisher…
LiDAR point cloud maps are extensively utilized on roads for robot navigation due to their high consistency. However, dense point clouds face challenges of high memory consumption and reduced maintainability for long-term operations. In…
Simultaneous Localization and Mapping (SLAM) is an essential component of autonomous robotic applications and self-driving vehicles, enabling them to understand and operate in their environment. Many SLAM systems have been proposed in the…
The problem of beam alignment and tracking in high mobility scenarios such as high-speed railway (HSR) becomes extremely challenging, since large overhead cost and significant time delay are introduced for fast time-varying channel…
Considerable advancements have been achieved in SLAM methods tailored for structured environments, yet their robustness under challenging corner cases remains a critical limitation. Although multi-sensor fusion approaches integrating…
Recently, crowd density estimation has received increasing attention. The main challenge for this task is to achieve high-quality manual annotations on a large amount of training data. To avoid reliance on such annotations, previous works…
Simultaneous Localization and Mapping (SLAM) is a key component of autonomous systems operating in environments that require a consistent map for reliable localization. SLAM has been a widely studied topic for decades with most of the…
In this paper, we propose a novel linear discriminant analysis criterion via the Bhattacharyya error bound estimation based on a novel L1-norm (L1BLDA) and L2-norm (L2BLDA). Both L1BLDA and L2BLDA maximize the between-class scatters which…
Mixed-resolution architectures, combining high-resolution (analog) data with coarsely quantized (e.g., 1-bit) data, are widely employed in emerging communication and radar systems to reduce hardware costs and power consumption. However, the…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
Weakly-supervised object detection (WSOD) has emerged as an inspiring recent topic to avoid expensive instance-level object annotations. However, the bounding boxes of most existing WSOD methods are mainly determined by precomputed…
Simultaneous localization and mapping (SLAM) methods need to both solve the data association (DA) problem and the joint estimation of the sensor trajectory and the map, conditioned on a DA. In this paper, we propose a novel integrated…
Linear discriminant analysis (LDA) is a fundamental classification and dimension reduction method that achieves Bayes optimality under Gaussian mixture, but often struggles in high-dimensional settings where the covariance matrix cannot be…
Photometric bundle adjustment, PBA, accurately estimates geometry from video. However, current PBA systems have a temporary map that cannot manage scene reobservations. We present, DSM, a full monocular visual SLAM based on PBA. Its…
In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…