相关论文: Learning 3D Segment Descriptors for Place Recognit…

Convolutional Neural Networks (CNN) possess many positive qualities when it comes to spatial raster data. Translation invariance enables CNNs to detect features regardless of their position in the scene. However, in some domains, like…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…

There is an increasing interest in applying deep learning to 3D mesh segmentation. We observe that 1) existing feature-based techniques are often slow or sensitive to feature resizing, 2) there are minimal comparative studies and 3)…

The success of deep learning techniques in the computer vision domain has triggered a range of initial investigations into their utility for visual place recognition, all using generic features from networks that were trained for other…

Image segmentation plays a pivotal role in several medical-imaging applications by assisting the segmentation of the regions of interest. Deep learning-based approaches have been widely adopted for semantic segmentation of medical data. In…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…

In robotics, Visual Place Recognition is a continuous process that receives as input a video stream to produce a hypothesis of the robot's current position within a map of known places. This task requires robust, scalable, and efficient…

Point cloud based retrieval for place recognition is still a challenging problem due to drastic appearance and illumination changes of scenes in changing environments. Existing deep learning based global descriptors for the retrieval task…

The paper presents a learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Existing methods, such as PointNetVLAD, are based on unordered point cloud representation. They use PointNet…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

In this paper, we propose a novel approach that learns to sequentially attend to different Convolutional Neural Networks (CNN) layers (i.e., ``what'' feature abstraction to attend to) and different spatial locations of the selected feature…

In challenging environments where traditional sensing modalities struggle, in-air sonar offers resilience to optical interference. Placing a priori known landmarks in these environments can eliminate accumulated errors in autonomous mobile…

Current fine-grained classification approaches often rely on a robust localization of object parts to extract localized feature representations suitable for discrimination. However, part localization is a challenging task due to the large…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…

This work proposes a new method for place recognition based on the scene architecture. From depth video, we compute the 3D model and we derive and describe geometrically the 2D map from which the scene descriptor is deduced to constitute…

In contrast to the literature where local patterns in 3D point clouds are captured by customized convolutional operators, in this paper we study the problem of how to effectively and efficiently project such point clouds into a 2D image…

Place recognition is a key module in robotic navigation. The existing line of studies mostly focuses on visual place recognition to recognize previously visited places solely based on their appearance. In this paper, we address structural…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…