相关论文: Combining Deep Learning and Model-Based Methods fo…

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

Lane mark detection is an important element in the road scene analysis for Advanced Driver Assistant System (ADAS). Limited by the onboard computing power, it is still a challenge to reduce system complexity and maintain high accuracy at…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Visual place recognition tasks often encounter significant challenges in landmark detection due to the presence of irrelevant objects such as humans, cars, and trees, despite the remarkable progress achieved by previous models, especially…

We address the vehicle detection and classification problems using Deep Neural Networks (DNNs) approaches. Here we answer to questions that are specific to our application including how to utilize DNN for vehicle detection, what features…

Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However,…

We address the problem of vehicle self-localization from multi-modal sensor information and a reference map. The map is generated off-line by extracting landmarks from the vehicle's field of view, while the measurements are collected…

Recently, by using deep neural network based algorithms, object classification, detection and semantic segmentation solutions are significantly improved. However, one challenge for 2D image-based systems is that they cannot provide accurate…

The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object…

We address the problem of visual place recognition with perceptual changes. The fundamental problem of visual place recognition is generating robust image representations which are not only insensitive to environmental changes but also…

This paper presents a novel approach for landmark recognition in images that we've successfully deployed at Mail ru. This method enables us to recognize famous places, buildings, monuments, and other landmarks in user photos. The main…

Convolutional neural networks (CNNs) based approaches for semantic alignment and object landmark detection have improved their performance significantly. Current efforts for the two tasks focus on addressing the lack of massive training…

Even though many existing 3D object detection algorithms rely mostly on camera and LiDAR, camera and LiDAR are prone to be affected by harsh weather and lighting conditions. On the other hand, radar is resistant to such conditions. However,…

In challenging environments where traditional sensing modalities struggle, in-air sonar offers resilience to optical interference. Placing a priori known landmarks in these environments can eliminate accumulated errors in autonomous mobile…

Existing deep learning based facial landmark detection methods have achieved excellent performance. These methods, however, do not explicitly embed the structural dependencies among landmark points. They hence cannot preserve the geometric…

Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail to monitoring vegetation growth with handheld sensors. In…

Lane detection in driving scenes is an important module for autonomous vehicles and advanced driver assistance systems. In recent years, many sophisticated lane detection methods have been proposed. However, most methods focus on detecting…

Modern lidar systems can produce not only dense point clouds but also 360 degrees low-resolution images. This advancement facilitates the application of deep learning (DL) techniques initially developed for conventional RGB cameras and…

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,…

Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene…