Related papers: CLAIM: Camera-LiDAR Alignment with Intensity and M…
The current LiDAR SLAM (Simultaneous Localization and Mapping) system suffers greatly from low accuracy and limited robustness when faced with complicated circumstances. From our experiments, we find that current LiDAR SLAM systems have…
Large vision-language representation learning models like CLIP have demonstrated impressive performance for zero-shot transfer to downstream tasks while largely benefiting from inter-modal (image-text) alignment via contrastive objectives.…
In this letter we investigate a tightly coupled Lidar-Inertia Odometry and Mapping (LIOM) scheme, with the capability to incorporate multiple lidars with complementary field of view (FOV). In essence, we devise a time-synchronized scheme to…
Accurate camera localization is crucial for robotics and Extended Reality (XR), enabling reliable navigation and alignment of virtual and real content. Existing visual methods often suffer from drift, scale ambiguity, and depend on…
We present a proof-of-concept LIDAR design that allows adaptive real-time measurements according to dynamically specified measurement patterns. We describe our optical setup and calibration, which enables fast sparse depth measurements…
This paper presents a robust monocular visual SLAM system that simultaneously utilizes point, line, and vanishing point features for accurate camera pose estimation and mapping. To address the critical challenge of achieving reliable…
This work introduces CLIP-aware Domain-Adaptive Super-Resolution (CDASR), a novel framework that addresses the critical challenge of domain generalization in single image super-resolution. By leveraging the semantic capabilities of CLIP…
Besides image classification, Contrastive Language-Image Pre-training (CLIP) has accomplished extraordinary success for a wide range of vision tasks, including object-level and 3D space understanding. However, it's still challenging to…
LiDARs are widely used for mapping and localization in dynamic environments. However, their high cost limits their widespread adoption. On the other hand, monocular localization in LiDAR maps using inexpensive cameras is a cost-effective…
Lidar technology has evolved significantly over the last decade, with higher resolution, better accuracy, and lower cost devices available today. In addition, new scanning modalities and novel sensor technologies have emerged in recent…
In this work, we propose a monocular visual odometry framework, which allows exploiting the best attributes of edge feature for illumination-robust camera tracking, while at the same time ameliorating the performance degradation of edge…
Recent progress in the automated driving system (ADS) and advanced driver assistant system (ADAS) has shown that the combined use of 3D light detection and ranging (LiDAR) and the camera is essential for an intelligent vehicle to perceive…
LIDAR and RADAR are two commonly used sensors in autonomous driving systems. The extrinsic calibration between the two is crucial for effective sensor fusion. The challenge arises due to the low accuracy and sparse information in RADAR…
LiDAR-based SLAM algorithms are extensively studied to providing robust and accurate positioning for autonomous driving vehicles (ADV) in the past decades. Satisfactory performance can be obtained using high-grade 3D LiDAR with 64 channels,…
Calibrating the extrinsic parameters of sensory devices is crucial for fusing multi-modal data. Recently, event cameras have emerged as a promising type of neuromorphic sensors, with many potential applications in fields such as mobile…
Vision-language pre-training like CLIP has shown promising performance on various downstream tasks such as zero-shot image classification and image-text retrieval. Most of the existing CLIP-alike works usually adopt relatively large image…
The complementary fusion of light detection and ranging (LiDAR) data and image data is a promising but challenging task for generating high-precision and high-density point clouds. This study proposes an innovative LiDAR-guided stereo…
This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method leverages LiDAR point cloud measurements from planes in the…
We present COIN-LIO, a LiDAR Inertial Odometry pipeline that tightly couples information from LiDAR intensity with geometry-based point cloud registration. The focus of our work is to improve the robustness of LiDAR-inertial odometry in…
Monocular depth is important in many tasks, such as 3D reconstruction and autonomous driving. Deep learning based models achieve state-of-the-art performance in this field. A set of novel approaches for estimating monocular depth consists…