相关论文: RegNet: Multimodal Sensor Registration Using Deep …

This article presents an innovative study in exploring, evaluating, and implementing deep learning architectures for the calibration of multi-modal sensor systems. The focus behind this is to leverage the use of sensor fusion to achieve…

In this paper, we address extrinsic calibration for camera, lidar, and 4D radar sensors. Accurate extrinsic calibration of radar remains a challenge due to the sparsity of its data. We propose CLRNet, a novel, multi-modal end-to-end deep…

As an essential procedure of data fusion, LiDAR-camera calibration is critical for autonomous vehicles and robot navigation. Most calibration methods rely on hand-crafted features and require significant amounts of extracted features or…

3D LiDARs and 2D cameras are increasingly being used alongside each other in sensor rigs for perception tasks. Before these sensors can be used to gather meaningful data, however, their extrinsics (and intrinsics) need to be accurately…

We present a robust deep learning based 6 degrees-of-freedom (DoF) localization system for endoscopic capsule robots. Our system mainly focuses on localization of endoscopic capsule robots inside the GI tract using only visual information…

Current perception systems often carry multimodal imagers and sensors such as 2D cameras and 3D LiDAR sensors. To fuse and utilize the data for downstream perception tasks, robust and accurate calibration of the multimodal sensor data is…

Accurate extrinsic calibration of LiDAR, RADAR, and camera sensors is essential for reliable perception in autonomous vehicles. Still, it remains challenging due to factors such as mechanical vibrations and cumulative sensor drift in…

We present a robust and real-time monocular six degree of freedom relocalization system. Our system trains a convolutional neural network to regress the 6-DOF camera pose from a single RGB image in an end-to-end manner with no need of…

Registration plays an important role in medical image analysis. Deep learning-based methods have been studied for medical image registration, which leverage convolutional neural networks (CNNs) for efficiently regressing a dense deformation…

This paper addresses the problem of dense depth predictions from sparse distance sensor data and a single camera image on challenging weather conditions. This work explores the significance of different sensor modalities such as camera,…

Deformable image registration (alignment) is highly sought after in numerous clinical applications, such as computer aided diagnosis and disease progression analysis. Deep Convolutional Neural Network (DCNN)-based image registration methods…

In this work we propose a deep learning network for deformable image registration (DIRNet). The DIRNet consists of a convolutional neural network (ConvNet) regressor, a spatial transformer, and a resampler. The ConvNet analyzes a pair of…

Deep convolutional neural networks (CNNs) have been intensively used for multi-class segmentation of data from different modalities and achieved state-of-the-art performances. However, a common problem when dealing with large, high…

Deep convolutional neural networks (DCNN) have enjoyed great successes in many signal processing applications because they can learn complex, non-linear causal relationships from input to output. In this light, DCNNs are well suited for the…

In the context of deep learning, this article presents an original deep network, namely CentralNet, for the fusion of information coming from different sensors. This approach is designed to efficiently and automatically balance the…

Images taken at different times or positions undergo transformations such as rotation, scaling, skewing, and more. The process of aligning different images which have undergone transformations can be done via registration. Registration is…

We propose a supervised nonrigid image registration method, trained using artificial displacement vector fields (DVF), for which we propose and compare three network architectures. The artificial DVFs allow training in a fully supervised…

We present 3DRegNet, a novel deep learning architecture for the registration of 3D scans. Given a set of 3D point correspondences, we build a deep neural network to address the following two challenges: (i) classification of the point…

This work proposes a new end-to-end DCNN based approach for motion segmentation, especially for video sequences captured with such non-static cameras, called MOSNET. While other approaches focus on spatial or temporal context only, the…

Accurate LiDAR-camera extrinsic calibration is a precondition for many multi-sensor systems in mobile robots. Most calibration methods rely on laborious manual operations and calibration targets. While working online, the calibration…