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

This paper proposes a robust localization system that employs deep learning for better scene representation, and enhances the accuracy of 6-DOF camera pose estimation. Inspired by the fact that global scene structure can be revealed by wide…

This paper presents a novel method for ground segmentation in Velodyne point clouds. We propose an encoding of sparse 3D data from the Velodyne sensor suitable for training a convolutional neural network (CNN). This general purpose approach…

Recovering structure and motion parameters given a image pair or a sequence of images is a well studied problem in computer vision. This is often achieved by employing Structure from Motion (SfM) or Simultaneous Localization and Mapping…

Accurate localization of other traffic participants is a vital task in autonomous driving systems. State-of-the-art systems employ a combination of sensing modalities such as RGB cameras and LiDARs for localizing traffic participants, but…

Place recognition is one of the most crucial modules for autonomous vehicles to identify places that were previously visited in GPS-invalid environments. Sensor fusion is considered an effective method to overcome the weaknesses of…

Convolutional Neural Networks (CNNs) are state-of-the-art models for document image classification tasks. However, many of these approaches rely on parameters and architectures designed for classifying natural images, which differ from…

Visual navigation localizes a query place image against a reference database of place images, also known as a `visual map'. Localization accuracy requirements for specific areas of the visual map, `scene classes', vary according to the…

We propose a single-shot approach to determining 6-DoF pose of an object with available 3D computer-aided design (CAD) model from a single RGB image. Our method, dubbed MRC-Net, comprises two stages. The first performs pose classification…

This paper describes a system whereby a robot detects and track human-meaningful navigational cues as it navigates in an indoor environment. It is intended as the sensor front-end for a mobile robot system that can communicate its…

Accurate and reliable localization is a fundamental requirement for autonomous vehicles to use map information in higher-level tasks such as navigation or planning. In this paper, we present a novel approach to vehicle localization in dense…

The objective of this paper is to address the localization problem using omnidirectional images captured by a catadioptric vision system mounted on the robot. For this purpose, we explore the potential of Siamese Neural Networks for…

Convolutional Neural Networks (CNN) has been widely applied in the realm of computer vision. However, given the fact that CNN models are translation invariant, they are not aware of the coordinate information of each pixel. Thus the…

Estimating depth from RGB images can facilitate many computer vision tasks, such as indoor localization, height estimation, and simultaneous localization and mapping (SLAM). Recently, monocular depth estimation has obtained great progress…

For high resolution scene mapping and object recognition, optical technologies such as cameras and LiDAR are the sensors of choice. However, for robust future vehicle autonomy and driver assistance in adverse weather conditions,…

X-Ray image enhancement, along with many other medical image processing applications, requires the segmentation of images into bone, soft tissue, and open beam regions. We apply a machine learning approach to this problem, presenting an…

Convolutional Neural Networks (CNNs) constitute a class of Deep Learning models which have been used in the recent past to resolve many problems in computer vision, in particular optical flow estimation. Measuring displacement and strain…

Accurate extrinsic calibration of LiDAR, RADAR, and camera sensors is essential for reliable perception in autonomous vehicles. Still, it remains challenging due to factors such as mechanical vibrations and cumulative sensor drift in…

Perception technologies in Autonomous Driving are experiencing their golden age due to the advances in Deep Learning. Yet, most of these systems rely on the semantically rich information of RGB images. Deep Learning solutions applied to the…

Robust data association is necessary for virtually every SLAM system and finding corresponding points is typically a preprocessing step for scan alignment algorithms. Traditionally, handcrafted feature descriptors were used for these…

It is a classical compute vision problem to obtain real scene depth maps by using a monocular camera, which has been widely concerned in recent years. However, training this model usually requires a large number of artificially labeled…