相关论文: Robust Initial Alignment for SINS/DVL Based on Rec…

Research on developing deep learning techniques for autonomous spacecraft relative navigation challenges is continuously growing in recent years. Adopting those techniques offers enhanced performance. However, such approaches also introduce…

The deep neural network (DNN) models are widely used for object detection in automated driving systems (ADS). Yet, such models are prone to errors which can have serious safety implications. Introspection and self-assessment models that aim…

Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…

Ordinal regression is a specialized supervised problem where the labels show an inherent order. The order distinguishes it from normal multi-class problem. Support Vector Ordinal Regression, as an outstanding ordinal regression model, is…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

This paper proposes SOLVR, a unified pipeline for learning based LiDAR-Visual re-localisation which performs place recognition and 6-DoF registration across sensor modalities. We propose a strategy to align the input sensor modalities by…

Vision-and-Language Navigation (VLN), where an agent follows instructions to reach a target destination, has recently seen significant advancements. In contrast to navigation in discrete environments with predefined trajectories, VLN in…

The Vision-and-Language Navigation (VLN) task entails an agent following navigational instruction in photo-realistic unknown environments. This challenging task demands that the agent be aware of which instruction was completed, which…

This paper presents a learned model to predict the robot-centric velocity of an underwater robot through dynamics-aware proprioception. The method exploits a recurrent neural network using as inputs inertial cues, motor commands, and…

Deep Learning (DL) has brought significant advances to robotics vision tasks. However, most existing DL methods have a major shortcoming, they rely on a static inference paradigm inherent in traditional computer vision pipelines. On the…

The vision-language navigation (VLN) task requires an agent to reach a target with the guidance of natural language instruction. Previous works learn to navigate step-by-step following an instruction. However, these works may fail to…

Fusing Radar and Lidar sensor data can fully utilize their complementary advantages and provide more accurate reconstruction of the surrounding for autonomous driving systems. Surround Radar/Lidar can provide 360-degree view sampling with…

For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…

Advances in machine learning algorithms for sensor fusion have significantly improved the detection and prediction of other road users, thereby enhancing safety. However, even a small angular displacement in the sensor's placement can cause…

The main contribution of this paper is an invariant extended Kalman filter (EKF) for visual inertial navigation systems (VINS). It is demonstrated that the conventional EKF based VINS is not invariant under the stochastic unobservable…

Safe autonomous systems in complex environments require robust road anomaly segmentation to identify unknown obstacles. However, existing approaches often rely on pixel-level statistics to determine whether a region appears anomalous. This…

A deep reinforcement learning (DRL) agent observes its states through observations, which may contain natural measurement errors or adversarial noises. Since the observations deviate from the true states, they can mislead the agent into…

Control systems are inevitably affected by external disturbances, and a major objective of the control design is to attenuate or eliminate their adverse effects on the system performance. This paper presents a disturbance rejection approach…

In this paper, we introduce IDOL, an optimization-based framework for IMU-DVS Odometry using Lines. Event cameras, also called Dynamic Vision Sensors (DVSs), generate highly asynchronous streams of events triggered upon illumination changes…

Robust estimation of the essential matrix, which encodes the relative position and orientation of two cameras, is a fundamental step in structure from motion pipelines. Recent deep-based methods achieved accurate estimation by using complex…