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Simultaneous Localization and Mapping (SLAM) estimates agents' trajectories and constructs maps, and localization is a fundamental kernel in autonomous machines at all computing scales, from drones, AR, VR to self-driving cars. In this…
Accurate and robust pose estimation is a key requirement for any autonomous robot. We present cuVSLAM, a state-of-the-art solution for visual simultaneous localization and mapping, which can operate with a variety of visual-inertial sensor…
Event-based visual odometry is a specific branch of visual Simultaneous Localization and Mapping (SLAM) techniques, which aims at solving tracking and mapping subproblems (typically in parallel), by exploiting the special working principles…
Precise localization is of great importance for autonomous parking task since it provides service for the downstream planning and control modules, which significantly affects the system performance. For parking scenarios, dynamic lighting,…
Visual autoregressive (VAR) modeling has marked a paradigm shift in image generation from next-token prediction to next-scale prediction. VAR predicts a set of tokens at each step from coarse to fine scale, leading to better image quality…
The agility and versatility offered by UAV platforms still encounter obstacles for full exploitation in industrial applications due to their indoor usage limitations. A significant challenge in this sense is finding a reliable and…
LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…
Vision transformers (ViTs) have demonstrated their superior accuracy for computer vision tasks compared to convolutional neural networks (CNNs). However, ViT models are often computation-intensive for efficient deployment on…
In this paper, we investigate how field programmable gate arrays can serve as hardware accelerators for real-time semantic segmentation tasks relevant for autonomous driving. Considering compressed versions of the ENet convolutional neural…
Online 3D scene perception in real time is essential for robotics, AR/VR, and autonomous systems, particularly in edge computing scenarios where computational resources are limited and privacy is crucial. Recent state-of-the-art methods…
Visual Inertial Odometry (VIO) is a widely used computer vision method that determines an agent's movement through a camera and an IMU sensor. This paper presents an efficient and accurate VIO pipeline optimized for applications on micro-…
Low-bit quantization emerges as one of the most promising compression approaches for deploying deep neural networks on edge devices. Mixed-precision quantization leverages a mixture of bit-widths to unleash the accuracy and efficiency…
Efficient and real time segmentation of color images has a variety of importance in many fields of computer vision such as image compression, medical imaging, mapping and autonomous navigation. Being one of the most computationally…
Non-Intrusive Load Monitoring (NILM) enables the disaggregation of the global power consumption of multiple loads, taken from a single smart electrical meter, into appliance-level details. State-of-the-Art approaches are based on Machine…
For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…
Simultaneous localization and mapping (SLAM) is a critical capability for any autonomous underwater vehicle (AUV). However, robust, accurate state estimation is still a work in progress when using low-cost sensors. We propose enhancing a…
The recent introduction of powerful embedded graphics processing units (GPUs) has allowed for unforeseen improvements in real-time computer vision applications. It has enabled algorithms to run onboard, well above the standard video rates,…
Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…
To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes…
This paper proposes FAST-LIVO2: a fast, direct LiDAR-inertial-visual odometry framework to achieve accurate and robust state estimation in SLAM tasks and provide great potential in real-time, onboard robotic applications. FAST-LIVO2 fuses…