相关论文: Algorithmic Design and Implementation of Unobtrusi…
LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…
This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and control strategies. Over the past decade, LiDAR technology has…
The LiDAR-based multi-agent and single-agent perception has shown promising performance in environmental understanding for robots and automated vehicles. However, there is no existing method that simultaneously solves both multi-agent and…
With the rapid increase in wildfires in the past decade, it has become necessary to detect and predict these disasters to mitigate losses to ecosystems and human lives. In this paper, we present a novel solution -- Hyper-Drive3D --…
Hyperspectral images (HSI) provide rich spectral information that contributed to the successful performance improvement of numerous computer vision tasks. However, it can only be achieved at the expense of images' spatial resolution.…
This paper introduces LIVE: Lidar Informed Visual Search focused on the problem of multi-robot (MR) planning and execution for robust visual detection of multiple objects. We perform extensive real-world experiments with a two-robot team in…
Underwater object detection (UOD), aiming to identify and localise the objects in underwater images or videos, presents significant challenges due to the optical distortion, water turbidity, and changing illumination in underwater scenes.…
We present UMI-3D, a multimodal extension of the Universal Manipulation Interface (UMI) for robust and scalable data collection in embodied manipulation. While UMI enables portable, wrist-mounted data acquisition, its reliance on monocular…
The lateral-line system that has evolved in many aquatic animals enables them to navigate murky fluid environments, locate and discriminate obstacles. Here, we present a data-driven model that uses artificial neural networks to process flow…
Localization of objects is vital for robot-object interaction. Light Detection and Ranging (LiDAR) application in robotics is an emerging and widely used object localization technique due to its accurate distance measurement, long-range,…
We present a novel tightly-coupled LiDAR-inertial odometry and mapping scheme for both solid-state and mechanical LiDARs. As frontend, a feature-based lightweight LiDAR odometry provides fast motion estimates for adaptive keyframe…
Live fish recognition is one of the most crucial elements of fisheries survey applications where vast amount of data are rapidly acquired. Different from general scenarios, challenges to underwater image recognition are posted by poor image…
The unification of disparate maps is crucial for enabling scalable robot operation across multiple sessions and collaborative multi-robot scenarios. However, achieving a unified map robust to sensor modalities and dynamic environments…
Underwater sites are a harsh environment for augmented reality applications. Obstacles that must be battled include poor visibility conditions, difficult navigation, and hard manipulation with devices under water. This chapter focuses on…
In this paper, we present the design and development of an undersea camera system. The goal of our system is to provide a 3D model of the undersea habitat in a long-term continuous manner. The most important feature of our system is the use…
Non-navigable rivers and retention ponds play important roles in buffering communities from flooding, yet emergency planners often have no data as to the volume of water that they can carry before flooding the surrounding. This paper…
LiDAR scene generation is increasingly important for scalable simulation and synthetic data creation, especially under diverse sensing conditions that are costly to capture at scale. Typically, diffusion-based LiDAR generators are developed…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
The LiDAR and inertial sensors based localization and mapping are of great significance for Unmanned Ground Vehicle related applications. In this work, we have developed an improved LiDAR-inertial localization and mapping system for…
The identification of substructures within halos in cosmological hydrodynamical simulations is a fundamental step to identify the simulated counterparts of real objects, namely galaxies. For this reason, substructure finders play a crucial…