相关论文: Object Detection and Classification in Occupancy G…

This research aims to explore the application of deep learning in autonomous driving computer vision technology and its impact on improving system performance. By using advanced technologies such as convolutional neural networks (CNN),…

Deep convolutional neural networks have recently achieved state-of-the-art performance on a number of image recognition benchmarks, including the ImageNet Large-Scale Visual Recognition Challenge (ILSVRC-2012). The winning model on the…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

2D fully convolutional network has been recently successfully applied to object detection from images. In this paper, we extend the fully convolutional network based detection techniques to 3D and apply it to point cloud data. The proposed…

Occupancy prediction infers fine-grained 3D geometry and semantics from camera images of the surrounding environment, making it a critical perception task for autonomous driving. Existing methods either adopt dense grids as scene…

Artificial Neural Networks, an essential part of Deep Learning, are derived from the structure and functionality of the human brain. It has a broad range of applications ranging from medical analysis to automated driving. Over the past few…

Convolutional Neural Networks (CNNs) have been used extensively for computer vision tasks and produce rich feature representation for objects or parts of an image. But reasoning about scenes requires integration between the low-level…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

Retrieving spatial information and understanding the semantic information of the surroundings are important for Bird's-Eye-View (BEV) semantic segmentation. In the application of autonomous driving, autonomous vehicles need to be aware of…

Monocular 3D object detection is a crucial and challenging task for autonomous driving vehicle, while it uses only a single camera image to infer 3D objects in the scene. To address the difficulty of predicting depth using only pictorial…

We present an interpretable deep model for fine-grained visual recognition. At the core of our method lies the integration of region-based part discovery and attribution within a deep neural network. Our model is trained using image-level…

In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…

In the past few years, we have seen great progress in perception algorithms, particular through the use of deep learning. However, most existing approaches focus on a few categories of interest, which represent only a small fraction of the…

Accurate estimation of the positions and shapes of microscale objects is crucial for automated imaging-guided manipulation using a non-contact technique such as optical tweezers. Perception methods that use traditional computer vision…

An in-depth exploration of object detection and semantic segmentation is provided, combining theoretical foundations with practical applications. State-of-the-art advancements in machine learning and deep learning are reviewed, focusing on…

RGB-D cameras, which give an RGB image to- gether with depths, are becoming increasingly popular for robotic perception. In this paper, we address the task of detecting commonly found objects in the 3D point cloud of indoor scenes obtained…

Land use mapping is a fundamental yet challenging task in geographic science. In contrast to land cover mapping, it is generally not possible using overhead imagery. The recent, explosive growth of online geo-referenced photo collections…

In perception tasks of automated vehicles (AVs) data-driven have often outperformed conventional approaches. This motivated us to develop a data-driven methodology to compute occupancy grid maps (OGMs) from lidar measurements. Our approach…

We explore the use of convolutional neural networks for the semantic classification of remote sensing scenes. Two recently proposed architectures, CaffeNet and GoogLeNet, are adopted, with three different learning modalities. Besides…

We present an accurate, real-time approach to robotic grasp detection based on convolutional neural networks. Our network performs single-stage regression to graspable bounding boxes without using standard sliding window or region proposal…