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Robotic Perception in diverse domains such as low-light scenarios, where new modalities like thermal imaging and specialized night-vision sensors are increasingly employed, remains a challenge. Largely, this is due to the limited…

We introduce LiDAR-UDA, a novel two-stage self-training-based Unsupervised Domain Adaptation (UDA) method for LiDAR segmentation. Existing self-training methods use a model trained on labeled source data to generate pseudo labels for target…

LiDAR object detection algorithms based on neural networks for autonomous driving require large amounts of data for training, validation, and testing. As real-world data collection and labeling are time-consuming and expensive,…

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.…

Training autonomous driving and navigation systems requires large and diverse point cloud datasets that capture complex edge case scenarios from various dynamic urban settings. Acquiring such diverse scenarios from real-world point cloud…

Although convolutional representation of multiscale sparse tensor demonstrated its superior efficiency to accurately model the occupancy probability for the compression of geometry component of dense object point clouds, its capacity for…

Object detection is an essential technique for autonomous driving. The performance of an object detector significantly degrades if the weather of the training images is different from that of test images. Domain adaptation can be used to…

3D point cloud semantic segmentation (PCSS) is a cornerstone for environmental perception in robotic systems and autonomous driving, enabling precise scene understanding through point-wise classification. While unsupervised domain…

Optical flow has made great progress in clean scenes, while suffers degradation under adverse weather due to the violation of the brightness constancy and gradient continuity assumptions of optical flow. Typically, existing methods mainly…

This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…

Remote sensing enables a wide range of critical applications such as land cover and land use mapping, crop yield prediction, and environmental monitoring. Advances in satellite technology have expanded remote sensing datasets, yet…

Supervised depth estimation has achieved high accuracy due to the advanced deep network architectures. Since the groundtruth depth labels are hard to obtain, recent methods try to learn depth estimation networks in an unsupervised way by…

Mobile ground robots require perceiving and understanding their surrounding support surface to move around autonomously and safely. The support surface is commonly estimated based on exteroceptive depth measurements, e.g., from LiDARs.…

Sharpness-Aware Minimization (SAM) optimizer enhances the generalization ability of the machine learning model by exploring the flat minima landscape through weight perturbations. Despite its empirical success, SAM introduces an additional…

3D object detection from point clouds is crucial in safety-critical autonomous driving. Although many works have made great efforts and achieved significant progress on this task, most of them suffer from expensive annotation cost and poor…

Deep learning-based LiDAR odometry is crucial for autonomous driving and robotic navigation, yet its performance under adverse weather, especially snowfall, remains challenging. Existing models struggle to generalize across conditions due…

Point-cloud-based 3D object detection suffers from performance degradation when encountering data with novel domain gaps. To tackle it, the single-domain generalization (SDG) aims to generalize the detection model trained in a limited…

Data augmentations are important in training high-performance 3D object detectors for point clouds. Despite recent efforts on designing new data augmentations, perhaps surprisingly, most state-of-the-art 3D detectors only use a few simple…

In autonomous driving, 3D object detection is essential for accurately identifying and tracking objects. Despite the continuous development of various technologies for this task, a significant drawback is observed in most of them-they…

Modern deep neural networks (DNNs) are highly accurate on many recognition tasks for overhead (e.g., satellite) imagery. However, visual domain shifts (e.g., statistical changes due to geography, sensor, or atmospheric conditions) remain a…