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We present an efficient multi-sensor odometry system for mobile platforms that jointly optimizes visual, lidar, and inertial information within a single integrated factor graph. This runs in real-time at full framerate using fixed lag…
Previous methods based on 3DCNN, convLSTM, or optical flow have achieved great success in video salient object detection (VSOD). However, they still suffer from high computational costs or poor quality of the generated saliency maps. To…
There has been extensive research on visual localization and odometry for autonomous robots and virtual reality during the past decades. Traditionally, this problem has been solved with the help of expensive sensors, such as lidars.…
Embodied tasks require the agent to fully understand 3D scenes simultaneously with its exploration, so an online, real-time, fine-grained and highly-generalized 3D perception model is desperately needed. Since high-quality 3D data is…
This paper presents the FPGA design of a convolutional neural network (CNN) based road segmentation algorithm for real-time processing of LiDAR data. For autonomous vehicles, it is important to perform road segmentation and obstacle…
LiDAR Odometry and Mapping (LOAM) is a pivotal technique for embodied-AI applications such as autonomous driving and robot navigation. Most existing LOAM frameworks are either contingent on the supervision signal, or lack of the…
In this paper the research on optimisation of visual object tracking using a Siamese neural network for embedded vision systems is presented. It was assumed that the solution shall operate in real-time, preferably for a high resolution…
Visual Odometry (VO) is vital for the navigation of autonomous systems, providing accurate position and orientation estimates at reasonable costs. While traditional VO methods excel in some conditions, they struggle with challenges like…
Deploying Vision-Language Models (VLMs) on edge devices (e.g., smartphones and robots) is crucial for enabling low-latency and privacy-preserving intelligent applications. Given the resource constraints of these devices, quantization offers…
Visual odometry and SLAM methods have a large variety of applications in domains such as augmented reality or robotics. Complementing vision sensors with inertial measurements tremendously improves tracking accuracy and robustness, and thus…
In this work we present a monocular visual odometry (VO) algorithm which leverages geometry-based methods and deep learning. Most existing VO/SLAM systems with superior performance are based on geometry and have to be carefully designed for…
We present a vehicle self-localization method using point-based deep neural networks. Our approach processes measurements and point features, i.e. landmarks, from a high-definition digital map to infer the vehicle's pose. To learn the best…
We propose a deep learning based novel prediction framework for enhanced bandwidth reduction in motion transfer enabled video applications such as video conferencing, virtual reality gaming and privacy preservation for patient health…
Visual odometry is an essential key for a localization module in SLAM systems. However, previous methods require tuning the system to adapt environment changes. In this paper, we propose a learning-based approach for frame-to-frame…
Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…
This paper presents FLAF, a focal line and feature-constrained active view planning method for tracking failure avoidance in feature-based visual navigation of mobile robots. Our FLAF-based visual navigation is built upon a feature-based…
Photometric calibration is essential to many computer vision applications. One of its key benefits is enhancing the performance of Visual SLAM, especially when it depends on a direct method for tracking, such as the standard KLT algorithm.…
Deep neural networks (DNNs), as the basis of object detection, will play a key role in the development of future autonomous systems with full autonomy. The autonomous systems have special requirements of real-time, energy-efficient…
Data detection in massive multi-user (MU) multiple-input multiple-output (MIMO) wireless systems is among the most critical tasks due to the excessively high implementation complexity. In this paper, we propose a novel, equalization-based…
High-throughput imaging workflows, such as Parallel Rapid Imaging with Spectroscopic Mapping (PRISM), generate data at rates that exceed conventional real-time processing capabilities. We present a scalable FPGA-based preprocessing pipeline…