相关论文: Deep Sensor Fusion for Real-Time Odometry Estimati…

This article presents an innovative study in exploring, evaluating, and implementing deep learning architectures for the calibration of multi-modal sensor systems. The focus behind this is to leverage the use of sensor fusion to achieve…

We present a novel end-to-end visual odometry architecture with guided feature selection based on deep convolutional recurrent neural networks. Different from current monocular visual odometry methods, our approach is established on the…

Radiation therapy (RT) is widely employed in the clinic for the treatment of head and neck (HaN) cancers. An essential step of RT planning is the accurate segmentation of various organs-at-risks (OARs) in HaN CT images. Nevertheless,…

We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sensors within a moving horizon estimator. ConFusion offers…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in visual odometry is…

In this work, we propose a novel Convolutional Neural Network (CNN) architecture for the joint detection and matching of feature points in images acquired by different sensors using a single forward pass. The resulting feature detector is…

Current perception systems often carry multimodal imagers and sensors such as 2D cameras and 3D LiDAR sensors. To fuse and utilize the data for downstream perception tasks, robust and accurate calibration of the multimodal sensor data is…

Object recognition from live video streams comes with numerous challenges such as the variation in illumination conditions and poses. Convolutional neural networks (CNNs) have been widely used to perform intelligent visual object…

Multimodal medical image fusion is a crucial task that combines complementary information from different imaging modalities into a unified representation, thereby enhancing diagnostic accuracy and treatment planning. While deep learning…

Motion estimation is one of the core challenges in computer vision. With traditional dual-frame approaches, occlusions and out-of-view motions are a limiting factor, especially in the context of environmental perception for vehicles due to…

In this paper, we propose a method of targetless and automatic Camera-LiDAR calibration. Our approach is an extension of hand-eye calibration framework to 2D-3D calibration. By using the sensor fusion odometry method, the scaled camera…

Various imaging artifacts, low signal-to-noise ratio, and bone surfaces appearing several millimeters in thickness have hindered the success of ultrasound (US) guided computer assisted orthopedic surgery procedures. In this work, a…

Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…

For applications such as autonomous driving, self-localization/camera pose estimation and scene parsing are crucial technologies. In this paper, we propose a unified framework to tackle these two problems simultaneously. The uniqueness of…

This paper proposes a new image-based localization framework that explicitly localizes the camera/robot by fusing Convolutional Neural Network (CNN) and sequential images' geometric constraints. The camera is localized using a single or few…

This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…

In recent years, Fully Convolutional Networks (FCN) has been widely used in various semantic segmentation tasks, including multi-modal remote sensing imagery. How to fuse multi-modal data to improve the segmentation performance has always…

Recently, transformer networks have outperformed traditional deep neural networks in natural language processing and show a large potential in many computer vision tasks compared to convolutional backbones. In the original transformer,…

Multi-organ segmentation is one of most successful applications of deep learning in medical image analysis. Deep convolutional neural nets (CNNs) have shown great promise in achieving clinically applicable image segmentation performance on…