相关论文: CMRNet: Camera to LiDAR-Map Registration

We introduce CenDerNet, a framework for 6D pose estimation from multi-view images based on center and curvature representations. Finding precise poses for reflective, textureless objects is a key challenge for industrial robotics. Our…

This article introduces BEVPlace++, a novel, fast, and robust LiDAR global localization method for unmanned ground vehicles. It uses lightweight convolutional neural networks (CNNs) on Bird's Eye View (BEV) image-like representations of…

Semantic grids are a useful representation of the environment around a robot. They can be used in autonomous vehicles to concisely represent the scene around the car, capturing vital information for downstream tasks like navigation or…

Convolutional Neural Network (CNN) based Deep Learning (DL) has achieved great progress in many real-life applications. Meanwhile, due to the complex model structures against strict latency and memory restriction, the implementation of CNN…

Image harmonization aims to modify the color of the composited region with respect to the specific background. Previous works model this task as a pixel-wise image-to-image translation using UNet family structures. However, the model size…

With the advancement of remote-sensed imaging large volumes of very high resolution land cover images can now be obtained. Automation of object recognition in these 2D images, however, is still a key issue. High intra-class variance and low…

Channel covariance matrix (CCM) is one critical parameter for designing the communications systems. In this paper, a novel framework of the deep learning (DL) based CCM estimation is proposed that exploits the perception of the transmission…

Autonomous driving perception tasks rely heavily on cameras as the primary sensor for Object Detection, Semantic Segmentation, Instance Segmentation, and Object Tracking. However, RGB images captured by cameras lack depth information, which…

Scene recognition with RGB images has been extensively studied and has reached very remarkable recognition levels, thanks to convolutional neural networks (CNN) and large scene datasets. In contrast, current RGB-D scene data is much more…

We present a novel real-time capable learning method that jointly perceives a 3D scene's geometry structure and semantic labels. Recent approaches to real-time 3D scene reconstruction mostly adopt a volumetric scheme, where a Truncated…

In this work, we present a novel background subtraction system that uses a deep Convolutional Neural Network (CNN) to perform the segmentation. With this approach, feature engineering and parameter tuning become unnecessary since the…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…

Public cameras often have limited metadata describing their attributes. A key missing attribute is the precise location of the camera, using which it is possible to precisely pinpoint the location of events seen in the camera. In this…

Moving object detection is a critical task for autonomous vehicles. As dynamic objects represent higher collision risk than static ones, our own ego-trajectories have to be planned attending to the future states of the moving elements of…

We propose an online visual tracking algorithm by learning discriminative saliency map using Convolutional Neural Network (CNN). Given a CNN pre-trained on a large-scale image repository in offline, our algorithm takes outputs from hidden…

Learning-based visual relocalizers exhibit leading pose accuracy, but require hours or days of training. Since training needs to happen on each new scene again, long training times make learning-based relocalization impractical for most…

3D object detection from a single image without LiDAR is a challenging task due to the lack of accurate depth information. Conventional 2D convolutions are unsuitable for this task because they fail to capture local object and its scale…

Most current single image camera calibration methods rely on specific image features or user input, and cannot be applied to natural images captured in uncontrolled settings. We propose directly inferring camera calibration parameters from…

In this work, a deep learning approach has been developed to carry out road detection using only LIDAR data. Starting from an unstructured point cloud, top-view images encoding several basic statistics such as mean elevation and density are…

Computational color constancy, or white balancing, is a key module in a camera's image signal processor (ISP) that corrects color casts from scene lighting. Because this operation occurs in the camera-specific raw color space, white balance…