相关论文: Vision-based Semantic Mapping and Localization for…

This paper presents a localization technique using aerial imagery maps and LIDAR based ground reflectivity for autonomous vehicles in urban environments. Traditional localization techniques using LIDAR reflectivity rely on high definition…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…

Safe path planning in autonomous driving is a complex task due to the interplay of static scene elements and uncertain surrounding agents. While all static scene elements are a source of information, there is asymmetric importance to the…

We propose a novel robotic system that can improve its perception during deployment. Contrary to the established approach of learning semantics from large datasets and deploying fixed models, we propose a framework in which semantic models…

Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…

Finding parking consumes a disproportionate share of food delivery time, yet no system addresses precise parking-spot selection relative to merchant entrances. We propose ParkSense, a framework that repurposes idle compute during low-risk…

With the sharp increase in the number of vehicles, the issue of parking difficulties has emerged as an urgent challenge that many cities need to address promptly. In the task of predicting large-scale urban parking data, existing research…

Autonomous vehicles have created a sensation in both outdoor and indoor applications. The famous indoor use-case is process automation inside a warehouse using Autonomous Indoor Vehicles (AIV). These vehicles need to locate themselves not…

In autonomous vehicles, understanding the surrounding 3D environment of the ego vehicle in real-time is essential. A compact way to represent scenes while encoding geometric distances and semantic object information is via 3D semantic…

Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images…

Self-driving cars must detect other vehicles and pedestrians in 3D to plan safe routes and avoid collisions. State-of-the-art 3D object detectors, based on deep learning, have shown promising accuracy but are prone to over-fit to domain…

Robust visual localization for urban vehicles remains challenging and unsolved. The limitation of computation efficiency and memory size has made it harder for large-scale applications. Since semantic information serves as a stable and…

The increasing illegal parking has become more and more serious. Nowadays the methods of detecting illegally parked vehicles are based on background segmentation. However, this method is weakly robust and sensitive to environment.…

Accurate lane detection, a crucial enabler for autonomous driving, currently relies on obtaining a large and diverse labeled training dataset. In this work, we explore learning from abundant, randomly generated synthetic data, together with…

Place recognition is a critical component in robot navigation that enables it to re-establish previously visited locations, and simultaneously use this information to correct the drift incurred in its dead-reckoned estimate. In this work,…

Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…

This paper presents Vision-Language Global Localization (VLG-Loc), a novel global localization method that uses human-readable labeled footprint maps containing only names and areas of distinctive visual landmarks in an environment. While…

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…

Most approaches for instance-aware semantic labeling traditionally focus on accuracy. Other aspects like runtime and memory footprint are arguably as important for real-time applications such as autonomous driving. Motivated by this…