相关论文: CAE-RLSM: Consistent and Efficient Redundant Line …
Line matching plays an essential role in structure from motion (SFM) and simultaneous localization and mapping (SLAM), especially in low-textured and repetitive scenes. In this paper, we present a new method of using a graph convolution…
This paper presents a method for robust optimization for online incremental Simultaneous Localization and Mapping (SLAM). Due to the NP-Hardness of data association in the presence of perceptual aliasing, tractable (approximate) approaches…
Online map matching is a fundamental problem in location-based services, aiming to incrementally match trajectory data step-by-step onto a road network. However, existing methods fail to meet the needs for efficiency, robustness, and…
Linear Sequence Modeling (LSM) like linear attention, state space models and linear RNNs, and Mixture-of-Experts (MoE) have recently emerged as significant architectural improvements. In this paper, we introduce Linear-MoE, a…
Modern magnetic resonance imaging (MRI) relies on application-specific multi-channel receive coils to achieve high performance, but these coils are typically costly, rigid, and difficult to generalize across anatomies. Recent wireless,…
Mobile mapping, in particular, Mobile Lidar Scanning (MLS) is increasingly widespread to monitor and map urban scenes at city scale with unprecedented resolution and accuracy. The resulting point cloud sampling of the scene geometry can be…
Streaming graphs are drawing increasing attention in both academic and industrial communities as many graphs in real applications evolve over time. Continuous subgraph matching (shorted as CSM) aims to report the incremental matches of a…
The recent success of specialized Large Language Models (LLMs) in domains such as mathematical reasoning and coding has led to growing interest in methods for merging these expert LLMs into a unified Mixture-of-Experts (MoE) model, with the…
With the wide penetration of smart robots in multifarious fields, Simultaneous Localization and Mapping (SLAM) technique in robotics has attracted growing attention in the community. Yet collaborating SLAM over multiple robots still remains…
Road masks obtained from remote sensing images effectively support a wide range of downstream tasks. In recent years, most studies have focused on improving the performance of fully automatic segmentation models for this task, achieving…
This paper introduces a novel incremental distributed back-end algorithm for Collaborative Simultaneous Localization and Mapping (C-SLAM). For real-world deployments, robotic teams require algorithms to compute a consistent state estimate…
Continual Model Merging (CMM) enables rapid customization of foundation models by sequentially incorporating task-adapted models without repeated retraining. However, existing merging rules usually update the deployed model through fixed…
Due to the high similarity of disparity between consecutive frames in video sequences, the area where disparity changes is defined as the residual map, which can be calculated. Based on this, we propose RecSM, a network based on residual…
The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal sensor fusion in modern SLAM. However, regardless of these advantages, its offline property caused by the requirement of…
Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques are efficient but commit to a state estimate immediately…
This paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Traditional LiDAR Simultaneous Localization and Mapping (SLAM)…
As a common method in the field of computer vision, spatial attention mechanism has been widely used in semantic segmentation of remote sensing images due to its outstanding long-range dependency modeling capability. However, remote sensing…
Offline map matching involves aligning historical trajectories of mobile objects, which may have positional errors, with digital maps. This is essential for applications in intelligent transportation systems (ITS), such as route analysis…
The escalating scale of Large Language Models (LLMs) necessitates efficient adaptation techniques. Model merging has gained prominence for its efficiency and controllability. However, existing merging techniques typically serve as post-hoc…
This work presents Adaptive Local-then-Global Merging (ALGM), a token reduction method for semantic segmentation networks that use plain Vision Transformers. ALGM merges tokens in two stages: (1) In the first network layer, it merges…