相关论文: Road-network-based Rapid Geolocalization

This paper presents a novel architecture for point cloud road user detection, which is based on a classical point cloud proposal generator approach, that utilizes simple geometrical rules. New methods are coupled with this technique to…

Visual Place Recognition is a challenging task for robotics and autonomous systems, which must deal with the twin problems of appearance and viewpoint change in an always changing world. This paper introduces Patch-NetVLAD, which provides a…

With the development of urbanization, the scale of urban road network continues to expand, especially in some Asian countries. Short-term traffic state prediction is one of the bases of traffic management and control. Constrained by the…

Geo-localization is a critical task in computer vision. In this work, we cast the geo-localization as a 2D image retrieval task. Current state-of-the-art methods for 2D geo-localization are not robust to locate a scene with drastic scale…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

This paper describes our UNet based deep convolutional neural network approach on the Traffic4cast challenge 2019. Challenges task is to predict future traffic flow volume, heading and speed on high resolution whole city map. We used UNet…

We introduce a novel method for defining geographic districts in road networks using stable matching. In this approach, each geographic district is defined in terms of a center, which identifies a location of interest, such as a post office…

Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…

Relocalization, the process of re-establishing a robot's position within an environment, is crucial for ensuring accurate navigation and task execution when external positioning information, such as GPS, is unavailable or has been lost.…

Cross-view geo-localization aims at establishing location correspondences between different viewpoints. Existing approaches typically learn cross-view correlations through direct feature similarity matching, often overlooking semantic…

We present a novel area matching algorithm for merging two different 2D grid maps. There are many approaches to address this problem, nevertheless, most previous work is built on some assumptions, such as rigid transformation, or similar…

We present a novel method for visual mapping and localization for autonomous vehicles, by extracting, modeling, and optimizing semantic road elements. Specifically, our method integrates cascaded deep models to detect standardized road…

This technical report presents a solution for the 2020 Traffic4Cast Challenge. We consider the traffic forecasting problem as a future frame prediction task with relatively weak temporal dependencies (might be due to stochastic urban…

Real-scanned point clouds are often incomplete due to viewpoint, occlusion, and noise. Existing point cloud completion methods tend to generate global shape skeletons and hence lack fine local details. Furthermore, they mostly learn a…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

This paper describes a novel approach to perform vehicle trajectory predictions employing graphic representations. The vehicles are represented using Gaussian distributions into a Bird Eye View. Then the U-net model is used to perform…

We propose DeepMapping, a novel registration framework using deep neural networks (DNNs) as auxiliary functions to align multiple point clouds from scratch to a globally consistent frame. We use DNNs to model the highly non-convex mapping…

Generating a set of high-quality correspondences or matches is one of the most critical steps in point cloud registration. This paper proposes a learning framework COTReg by jointly considering the pointwise and structural matchings to…

We present a technique for visualizing point clouds using a neural network. Our technique allows for an instant preview of any point cloud, and bypasses the notoriously difficult surface reconstruction problem or the need to estimate…

Point cloud registration based on correspondences computes the rigid transformation that maximizes the number of inliers constrained within the noise threshold. Current state-of-the-art (SOTA) methods employing spatial compatibility graphs…