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Many data have an underlying dependence on spatial location; it may be weather on the Earth, a simulation on a mesh, or a registered image. Yet this feature is rarely taken advantage of, and violates common assumptions made by many neural…
Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…
We introduce a novel method for odometry estimation using convolutional neural networks from 3D LiDAR scans. The original sparse data are encoded into 2D matrices for the training of proposed networks and for the prediction. Our networks…
Multi-ship tracking (MST) as a core technology has been proven to be applied to situational awareness at sea and the development of a navigational system for autonomous ships. Despite impressive tracking outcomes achieved by multi-object…
A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…
Learning human-like, robust bipedal walking remains difficult due to hybrid dynamics and terrain variability. We propose a lightweight framework that combines a gait generator network learned from human motion with Proximal Policy…
In this paper, we propose LIR-LIVO, a lightweight and robust LiDAR-inertial-visual odometry system designed for challenging illumination and degraded environments. The proposed method leverages deep learning-based illumination-resilient…
Cross-View Geo-localisation (CVGL) matches ground imagery against satellite tiles to give absolute position fixes, an alternative to GNSS where signals are occluded, jammed, or spoofed. Recent fine-grained CVGL methods regress sub-tile…
Low Earth Orbit (LEO) satellite constellations combine great flexibility and global coverage with short propagation delays when compared to satellites deployed in higher orbits. However, the fast movement of the individual satellites makes…
LiDAR odometry is a fundamental task for various areas such as robotics, autonomous driving. This problem is difficult since it requires the systems to be highly robust running in noisy real-world data. Existing methods are mostly local…
LiDAR Odometry is an essential component in many robotic applications. Unlike the mainstreamed approaches that focus on improving the accuracy by the additional inertial sensors, this letter explores the capability of LiDAR-only odometry…
Precise, seamless, and efficient train localization as well as long-term railway environment monitoring is the essential property towards reliability, availability, maintainability, and safety (RAMS) engineering for railroad systems.…
Autonomous driving has harsh requirements of small model size and energy efficiency, in order to enable the embedded system to achieve real-time on-board object detection. Recent deep convolutional neural network based object detectors have…
In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…
Compared to LiDAR-based localization methods, which provide high accuracy but rely on expensive sensors, visual localization approaches only require a camera and thus are more cost-effective while their accuracy and reliability typically is…
We present a novel deep convolutional network pipeline, LO-Net, for real-time lidar odometry estimation. Unlike most existing lidar odometry (LO) estimations that go through individually designed feature selection, feature matching, and…
The Mixtures-of-Experts (MoE) model is a widespread distributed and integrated learning method for large language models (LLM), which is favored due to its ability to sparsify and expand models efficiently. However, the performance of MoE…
Class-incremental learning (CIL) requires deep learning models to continuously acquire new knowledge from streaming data while preserving previously learned information. Recently, CIL based on pre-trained models (PTMs) has achieved…
This paper proposes a novel LiDAR-Inertial odometry (LIO), named SR-LIO, based on an iterated extended Kalman filter (iEKF) framework. We adapt the sweep reconstruction method, which segments and reconstructs raw input sweeps from spinning…
This paper presents a fast lidar-inertial odometry (LIO) that is robust to aggressive motion. To achieve robust tracking in aggressive motion scenes, we exploit the continuous scanning property of lidar to adaptively divide the full scan…