Related papers: Multi-modal panoramic 3D outdoor datasets for plac…
Vehicle localization using roadside LiDARs can provide centimeter-level accuracy for cloud-controlled vehicles while simultaneously serving multiple vehicles, enhanc-ing safety and efficiency. While most existing studies rely on repetitive…
Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent years, LiDAR scan based place recognition has drawn attention…
Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…
Visual localization on standard-definition (SD) maps has emerged as a promising low-cost and scalable solution for autonomous driving. However, existing regression-based approaches often overlook inherent geometric priors, resulting in…
We present PICCOLO, a simple and efficient algorithm for omnidirectional localization. Given a colored point cloud and a 360 panorama image of a scene, our objective is to recover the camera pose at which the panorama image is taken. Our…
Robust cross-seasonal localization is one of the major challenges in long-term visual navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic segmentation of images, i.e., where each pixel is assigned a…
There is a current increase in the development of "4D" Doppler-capable radar and lidar range sensors that produce 3D point clouds where all points also have information about the radial velocity relative to the sensor. 4D radars in…
We present an accurate and robust method for six degree of freedom image localization. There are two key-points of our method, 1. automatic immense photo synthesis and labeling from point cloud model and, 2. pose estimation with deep…
Many existing datasets for lidar place recognition are solely representative of structured urban environments, and have recently been saturated in performance by deep learning based approaches. Natural and unstructured environments present…
World-wide detailed 2D maps require enormous collective efforts. OpenStreetMap is the result of 11 million registered users manually annotating the GPS location of over 1.75 billion entries, including distinctive landmarks and common urban…
This paper presents an empirical evaluation of the Matterport Pro3, a consumer-grade 3D scanning device, for large-scale environment reconstruction. We conduct detailed scanning (1,099 scanning points) of a six-floor building (17,567 square…
Recent progress in semantic scene understanding has primarily been enabled by the availability of semantically annotated bi-modal (camera and LiDAR) datasets in urban environments. However, such annotated datasets are also needed for…
The 3D LiDAR place recognition aims to estimate a coarse localization in a previously seen environment based on a single scan from a rotating 3D LiDAR sensor. The existing solutions to this problem include hand-crafted point cloud…
We present a new, objectively defined catalog of candidate galaxy clusters based on the galaxy catalogs from the Digitized Second Palomar Observatory Sky Survey (DPOSS). This cluster catalog, derived from the best calibrated plates in the…
In this paper we present the Oxford Road Boundaries Dataset, designed for training and testing machine-learning-based road-boundary detection and inference approaches. We have hand-annotated two of the 10 km-long forays from the Oxford…
We present a new two-stage 3D object detection framework, named sparse-to-dense 3D Object Detector (STD). The first stage is a bottom-up proposal generation network that uses raw point cloud as input to generate accurate proposals by…
We present a new dataset, called Falling Things (FAT), for advancing the state-of-the-art in object detection and 3D pose estimation in the context of robotics. By synthetically combining object models and backgrounds of complex composition…
Robust place recognition is essential for reliable localization in robotics, particularly in complex environments with frequent indoor-outdoor transitions. However, existing LiDAR-based datasets often focus on outdoor scenarios and lack…
The Multilingual Visual Sentiment Ontology (MVSO) consists of 15,600 concepts in 12 different languages that are strongly related to emotions and sentiments expressed in images. These concepts are defined in the form of Adjective-Noun Pair…
Point clouds have been widely adopted in 3D semantic scene understanding. However, point clouds for typical tasks such as 3D shape segmentation or indoor scenario parsing are much denser than outdoor LiDAR sweeps for the application of…