相关论文: LO-Net: Deep Real-time Lidar Odometry

Several autonomy pipelines now have core components that rely on deep learning approaches. While these approaches work well in nominal conditions, they tend to have unexpected and severe failure modes that create concerns when used in…

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…

Estimating accurate lane lines in 3D space remains challenging due to their sparse and slim nature. Previous works mainly focused on using images for 3D lane detection, leading to inherent projection error and loss of geometry information.…

Accurate geospatial information is crucial for safe, autonomous Inland Waterway Transport (IWT), as existing charts (IENC) lack real-time detail and conventional LiDAR SLAM fails in waterway environments. These challenges lead to vertical…

Numerous researchers have conducted studies to achieve fast and robust ground-optimized LiDAR odometry methods for terrestrial mobile platforms. In particular, ground-optimized LiDAR odometry usually employs ground segmentation as a…

In the present work, we introduce a novel approach to enhance the precision of reduced order models by exploiting a multi-fidelity perspective and DeepONets. Reduced models provide a real-time numerical approximation by simplifying the…

Four-dimensional (4D) radar--visual odometry (4DRVO) integrates complementary information from 4D radar and cameras, making it an attractive solution for achieving accurate and robust pose estimation. However, 4DRVO may exhibit significant…

Convolutional Neural Networks (CNNs) can provide accurate object classification. They can be extended to perform object detection by iterating over dense or selected proposed object regions. However, the runtime of such detectors scales as…

Lane mark detection is an important element in the road scene analysis for Advanced Driver Assistant System (ADAS). Limited by the onboard computing power, it is still a challenge to reduce system complexity and maintain high accuracy at…

Effective recognition of spatial patterns and learning their hierarchy is crucial in modern spatial data analysis. Volumetric data applications seek techniques ensuring invariance not only to shifts but also to pattern rotations. While…

Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of such systems to…

We examine the usability of deep neural networks for multiple-input multiple-output (MIMO) user positioning solely based on the orthogonal frequency division multiplex (OFDM) complex channel coefficients. In contrast to other indoor…

A few lightweight convolutional neural network (CNN) models have been recently designed for remote sensing object detection (RSOD). However, most of them simply replace vanilla convolutions with stacked separable convolutions, which may not…

This paper proposes FAST-LIVO2: a fast, direct LiDAR-inertial-visual odometry framework to achieve accurate and robust state estimation in SLAM tasks and provide great potential in real-time, onboard robotic applications. FAST-LIVO2 fuses…

Conventional 3D human pose estimation relies on first detecting 2D body keypoints and then solving the 2D to 3D correspondence problem.Despite the promising results, this learning paradigm is highly dependent on the quality of the 2D…

Loop closing and relocalization are crucial techniques to establish reliable and robust long-term SLAM by addressing pose estimation drift and degeneration. This article begins by formulating loop closing and relocalization within a unified…

This paper presents an efficient and accurate radar odometry pipeline for large-scale localization. We propose a radar filter that keeps only the strongest reflections per-azimuth that exceeds the expected noise level. The filtered radar…

Real-time LiDAR-visual-inertial odometry and mapping is crucial for navigation and planning tasks in intelligent transportation systems. This study presents a pose-only bundle adjustment (PA) LiDAR-visual-inertial odometry (LVIO), named…

In this paper, we propose a novel object detection framework named "Deep Regionlets" by establishing a bridge between deep neural networks and conventional detection schema for accurate generic object detection. Motivated by the abilities…

We introduce a deep appearance model for rendering the human face. Inspired by Active Appearance Models, we develop a data-driven rendering pipeline that learns a joint representation of facial geometry and appearance from a multiview…