相关论文: DeepMapping: Unsupervised Map Estimation From Mult…

Accurate and efficient point cloud registration is a challenge because the noise and a large number of points impact the correspondence search. This challenge is still a remaining research problem since most of the existing methods rely on…

Establishing point-to-point correspondences across multiple 3D shapes is a fundamental problem in computer vision and graphics. In this paper, we introduce DcMatch, a novel unsupervised learning framework for non-rigid multi-shape matching.…

The main contribution of this paper is a new submap joining based approach for solving large-scale Simultaneous Localization and Mapping (SLAM) problems. Each local submap is independently built using the local information through solving a…

Point clouds are characterized by irregularity and unstructuredness, which pose challenges in efficient data exploitation and discriminative feature extraction. In this paper, we present an unsupervised deep neural architecture called…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

A DeepCAPA (Deep Learning for Continuous Aperture Array (CAPA)) framework is proposed to learn beamforming in CAPA systems. The beamforming optimization problem is firstly formulated, and it is mathematically proved that the optimal…

Recently, deep neural networks (DNNs) have been widely applied in mobile intelligent applications. The inference for the DNNs is usually performed in the cloud. However, it leads to a large overhead of transmitting data via wireless…

Understanding Deep Neural Network (DNN) performance in changing conditions is essential for deploying DNNs in safety critical applications with unconstrained environments, e.g., perception for self-driving vehicles or medical image…

Detecting and classifying targets in video streams from surveillance cameras is a cumbersome, error-prone and expensive task. Often, the incurred costs are prohibitive for real-time monitoring. This leads to data being stored locally or…

Point cloud registration involves determining a rigid transformation to align a source point cloud with a target point cloud. This alignment is fundamental in applications such as autonomous driving, robotics, and medical imaging, where…

Scene graphs have been recently introduced into 3D spatial understanding as a comprehensive representation of the scene. The alignment between 3D scene graphs is the first step of many downstream tasks such as scene graph aided point cloud…

Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually different from the training set. Thus, to achieve top…

Generating wide-area digital surface models (DSMs) requires registering a large number of individual, and partially overlapped DSMs. This presents a challenging problem for a typical registration algorithm, since when a large number of…

We propose distributed deep neural networks (DDNNs) over distributed computing hierarchies, consisting of the cloud, the edge (fog) and end devices. While being able to accommodate inference of a deep neural network (DNN) in the cloud, a…

We propose a novel method to explain trained deep neural networks (DNNs), by distilling them into surrogate models using unsupervised clustering. Our method can be applied flexibly to any subset of layers of a DNN architecture and can…

A core challenge in the interpretation of deep neural networks is identifying commonalities between the underlying algorithms implemented by distinct networks trained for the same task. Motivated by this problem, we introduce DYNAMO, an…

In this paper, a robust RGB-D SLAM system is proposed to utilize the structural information in indoor scenes, allowing for accurate tracking and efficient dense mapping on a CPU. Prior works have used the Manhattan World (MW) assumption to…

Recently MLP-based methods have shown strong performance in point cloud analysis. Simple MLP architectures are able to learn geometric features in local point groups yet fail to model long-range dependencies directly. In this paper, we…

For the semantic segmentation of images, state-of-the-art deep neural networks (DNNs) achieve high segmentation accuracy if that task is restricted to a closed set of classes. However, as of now DNNs have limited ability to operate in an…

We present a self-supervised learning approach for the semantic segmentation of lidar frames. Our method is used to train a deep point cloud segmentation architecture without any human annotation. The annotation process is automated with…