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

Image segmentation is a primary task in many medical applications. Recently, many deep networks derived from U-Net have been extensively used in various medical image segmentation tasks. However, in most of the cases, networks similar to…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

We introduce a convolutional neural network model for unsupervised learning of depth and ego-motion from cylindrical panoramic video. Panoramic depth estimation is an important technology for applications such as virtual reality, 3D…

Dictionary learning algorithms or supervised deep convolution networks have considerably improved the efficiency of predefined feature representations such as SIFT. We introduce a deep scattering convolution network, with predefined wavelet…

Determining the dimensions of nanostructures is critical to ensuring the maximum performance of many geometry-sensitive nanoscale functional devices. However, accurate metrology at the nanoscale is difficult using optics-based methods due…

Odometry is a critical task for autonomous systems for self-localization and navigation. We propose a novel LiDAR-Visual odometry framework that integrates LiDAR point clouds and images for accurate and robust pose estimation. Our method…

Real-time and high-performance 3D object detection is of critical importance for autonomous driving. Recent top-performing 3D object detectors mainly rely on point-based or 3D voxel-based convolutions, which are both computationally…

We propose a novel low-complexity lidar gesture recognition system for mobile robot control robust to gesture variation. Our system uses a modular approach, consisting of a pose estimation module and a gesture classifier. Pose estimates are…

Automatic lymph node (LN) segmentation and detection for cancer staging are critical. In clinical practice, computed tomography (CT) and positron emission tomography (PET) imaging detect abnormal LNs. Despite its low contrast and variety in…

We present a novel deep architecture and a training strategy to learn a local feature pipeline from scratch, using collections of images without the need for human supervision. To do so we exploit depth and relative camera pose cues to…

We develop a novel deep contour detection algorithm with a top-down fully convolutional encoder-decoder network. Our proposed method, named TD-CEDN, solves two important issues in this low-level vision problem: (1) learning multi-scale and…

For autonomous vehicles, high-precision real-time localization is the guarantee of stable driving. Compared with the visual odometry (VO), the LiDAR odometry (LO) has the advantages of higher accuracy and better stability. However, 2D LO is…

Localization is an indispensable component of a robot's autonomy stack that enables it to determine where it is in the environment, essentially making it a precursor for any action execution or planning. Although convolutional neural…

This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most…

Automated experimentation with real time data analysis in scanning transmission electron microscopy (STEM) often require end-to-end framework. The four-dimensional scanning transmission electron microscopy (4D-STEM) with high-throughput…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

A novel learning-optimization-combined 4D radar odometry model, named DNOI-4DRO, is proposed in this paper. The proposed model seamlessly integrates traditional geometric optimization with end-to-end neural network training, leveraging an…

Modern deep neural networks are powerful and widely applicable models that extract task-relevant information through multi-level abstraction. Their cross-domain success, however, is often achieved at the expense of computational cost, high…

Optical coherence tomography (OCT) is a non-invasive imaging technology which can provide micrometer-resolution cross-sectional images of the inner structures of the eye. It is widely used for the diagnosis of ophthalmic diseases with…

Real-time six degree-of-freedom pose estimation with ground vehicles represents a relevant and well studied topic in robotics, due to its many applications, such as autonomous driving and 3D mapping. Although some systems exist already,…