相关论文: Learning a Bias Correction for Lidar-only Motion E…

The majority of existing LiDAR odometry solutions are based on simple geometric features such as points, lines or planes which cannot fully reflect the characteristics of surrounding environments. In this study, we propose a novel LiDAR…

Robust and accurate pose estimation of a robotic platform, so-called sensor-based odometry, is an essential part of many robotic applications. While many sensor odometry systems made progress by adding more complexity to the ego-motion…

Detecting oriented objects along with estimating their rotation information is one crucial step for analyzing remote sensing images. Despite that many methods proposed recently have achieved remarkable performance, most of them directly…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

Reliable confidence estimation is critical when deploying vision models. We study error prediction: determining whether an image classifier's output is correct using only signals from a single forward pass. Motivated by internal-signal…

Future NASA lander missions to icy moons will require completely automated, accurate, and data efficient calibration methods for the robot manipulator arms that sample icy terrains in the lander's vicinity. To support this need, this paper…

Odometry is a critical task for autonomous systems for self-localization and navigation. We propose a novel LiDAR-Visual odometry framework that integrates LiDAR point clouds and images for accurate and robust pose estimation. Our method…

Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…

We present a self-supervised deep pose correction (DPC) network that applies pose corrections to a visual odometry estimator to improve its accuracy. Instead of regressing inter-frame pose changes directly, we build on prior work that uses…

Learning based methods have shown very promising results for the task of depth estimation in single images. However, most existing approaches treat depth prediction as a supervised regression problem and as a result, require vast quantities…

Patient movement in emission tomography deteriorates reconstruction quality because of motion blur. Gating the data improves the situation somewhat: each gate contains a movement phase which is approximately stationary. A standard method is…

HD (High Definition) map based on 3D lidar plays a vital role in autonomous vehicle localization, planning, decision-making, perception, etc. Many 3D lidar mapping technologies related to SLAM (Simultaneous Localization and Mapping) are…

In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed an online learning-based leg kinematics model named the…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

Pseudo-LiDAR-based methods for monocular 3D object detection have received considerable attention in the community due to the performance gains exhibited on the KITTI3D benchmark, in particular on the commonly reported validation split.…

This paper presents a radar odometry method that combines probabilistic trajectory estimation and deep learned features without needing groundtruth pose information. The feature network is trained unsupervised, using only the on-board radar…

In machine learning, accurately predicting the probability that a specific input is correct is crucial for risk management. This process, known as uncertainty (or confidence) estimation, is particularly important in mission-critical…

Lidar point cloud distortion from moving object is an important problem in autonomous driving, and recently becomes even more demanding with the emerging of newer lidars, which feature back-and-forth scanning patterns. Accurately estimating…

In this paper, we propose a method of targetless and automatic Camera-LiDAR calibration. Our approach is an extension of hand-eye calibration framework to 2D-3D calibration. By using the sensor fusion odometry method, the scaled camera…

Motion blur is one of the major challenges remaining for visual odometry methods. In low-light conditions where longer exposure times are necessary, motion blur can appear even for relatively slow camera motions. In this paper we present a…