相关论文: SeqLPD: Sequence Matching Enhanced Loop-Closure De…

Recently, deep learning approaches have achieved promising results in various fields of computer vision. In this paper, we investigate the combination of deep learning based methods and depth maps as input images to tackle the problem of…

We present LOCATE 3D, a model for localizing objects in 3D scenes from referring expressions like "the small coffee table between the sofa and the lamp." LOCATE 3D sets a new state-of-the-art on standard referential grounding benchmarks and…

Benefiting from the rapid development of convolutional neural networks, the performance of car license plate detection and recognition has been largely improved. Nonetheless, most existing methods solve detection and recognition problems…

LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…

Accurate localization is essential for autonomous vehicles, yet sensor noise and drift over time can lead to significant pose estimation errors, particularly in long-horizon environments. A common strategy for correcting accumulated error…

Understanding 3D point cloud models for learning purposes has become an imperative challenge for real-world identification such as autonomous driving systems. A wide variety of solutions using deep learning have been proposed for point…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

It has always been a research hotspot to use geographic information to assist the navigation of unmanned aerial vehicles. In this paper, a road-network-based localization method is proposed. We match roads in the measurement images to the…

Lane detection plays a pivotal role in the field of autonomous vehicles and advanced driving assistant systems (ADAS). Despite advances from image processing to deep learning based models, algorithm performance is highly dependent on…

Loop closure detection (LCD) is a core component of simultaneous localization and mapping (SLAM): it identifies revisited places and enables pose-graph constraints that correct accumulated drift. Classic bag-of-words approaches such as DBoW…

With the aggressive scaling of VLSI technology, the explosion of layout patterns creates a critical bottleneck for DFM applications like OPC. Pattern clustering is essential to reduce data complexity, yet existing methods struggle with…

Semantic parsing of large-scale 3D point clouds is an important research topic in computer vision and remote sensing fields. Most existing approaches utilize hand-crafted features for each modality independently and combine them in a…

Mobile robots and autonomous vehicles are often required to function in environments where critical position estimates from sensors such as GPS become uncertain or unreliable. Single image visual place recognition (VPR) provides an…

Occlusion presents a significant challenge for safety-critical applications such as autonomous driving. Collaborative perception has recently attracted a large research interest thanks to the ability to enhance the perception of autonomous…

We tackle the problem of finding accurate and robust keypoint correspondences between images. We propose a learning-based approach to guide local feature matches via a learned approximate image matching. Our approach can boost the results…

Deep learning based localization and mapping has recently attracted significant attention. Instead of creating hand-designed algorithms through exploitation of physical models or geometric theories, deep learning based solutions provide an…

In this work, we propose a fast and robust Image Feature Triangle Descriptor (IFTD) based on the STD method, aimed at improving the efficiency and accuracy of place recognition in driving scenarios. We extract keypoints from BEV projection…

To better address challenging issues of the irregularity and inhomogeneity inherently present in 3D point clouds, researchers have been shifting their focus from the design of hand-craft point feature towards the learning of 3D point…

Modern cars are incorporating an increasing number of driver assist features, among which automatic lane keeping. The latter allows the car to properly position itself within the road lanes, which is also crucial for any subsequent lane…

This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A…