Related papers: MirrorDrift: Actuated Mirror-Based Attacks on LiDA…
LiDAR and cameras are frequently used as sensors for simultaneous localization and mapping (SLAM). However, these sensors are prone to failure under low visibility (e.g. smoke) or places with reflective surfaces (e.g. mirrors). On the other…
We propose a novel geometric and photometric 3D mapping pipeline for accurate and real-time scene reconstruction from monocular images. To achieve this, we leverage recent advances in dense monocular SLAM and real-time hierarchical…
LiDAR sensors are critical for autonomous driving perception, yet remain vulnerable to spoofing attacks. Jamming attacks inject high-frequency laser pulses that completely blind LiDAR sensors by overwhelming authentic returns with malicious…
The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal sensor fusion in modern SLAM. However, regardless of these advantages, its offline property caused by the requirement of…
We present a simultaneous localization and mapping (SLAM) algorithm that is based on radio signals and the association of specular multipath components (MPCs) with geometric features. Especially in indoor scenarios, robust localization from…
Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift…
Masked image modeling (MIM) revolutionizes self-supervised learning (SSL) for image pre-training. In contrast to previous dominating self-supervised methods, i.e., contrastive learning, MIM attains state-of-the-art performance by masking…
For SLAM to be safely deployed in unstructured real world environments, it must possess several key properties that are not encompassed by conventional benchmarks. In this paper we show that SLAM commutativity, that is, consistency in…
In this paper, we unleash the potential of the powerful monodepth model in camera-LiDAR calibration and propose CLAIM, a novel method of aligning data from the camera and LiDAR. Given the initial guess and pairs of images and LiDAR point…
Modern self-driving perception systems have been shown to improve upon processing complementary inputs such as LiDAR with images. In isolation, 2D images have been found to be extremely vulnerable to adversarial attacks. Yet, there have…
This work presents an extension of graph-based SLAM methods to exploit the potential of 3D laser scans for loop detection. Every high-dimensional point cloud is replaced by a compact global descriptor, whereby a trained detector decides…
Neural implicit representations have been explored to enhance visual SLAM algorithms, especially in providing high-fidelity dense map. Existing methods operate robustly in static scenes but struggle with the disruption caused by moving…
Trajectory prediction forecasts nearby agents' moves based on their historical trajectories. Accurate trajectory prediction is crucial for autonomous vehicles. Existing attacks compromise the prediction model of a victim AV by directly…
Autonomous navigation of robots in harsh and GPS denied subterranean (SubT) environments with lack of natural or poor illumination is a challenging task that fosters the development of algorithms for pose estimation and mapping. Inspired by…
In this paper we propose an approach to mitigate shadowing errors in Lidar scan matching, by introducing a preprocessing step based on spherical gridding. Because the grid aligns with the Lidar beam, it is relatively easy to eliminate…
We propose LiDAL, a novel active learning method for 3D LiDAR semantic segmentation by exploiting inter-frame uncertainty among LiDAR frames. Our core idea is that a well-trained model should generate robust results irrespective of…
This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of…
Simultaneous Localization and Mapping (SLAM) plays an important role in robot autonomy. Reliability and efficiency are the two most valued features for applying SLAM in robot applications. In this paper, we consider achieving a reliable…
The recently developed Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have shown encouraging and impressive results for visual SLAM. However, most representative methods require RGBD sensors and are only available for indoor…
An accurate and computationally efficient SLAM algorithm is vital for modern autonomous vehicles. To make a lightweight the algorithm, most SLAM systems rely on feature detection from images for vision SLAM or point cloud for laser-based…