相关论文: Look Around You: Sequence-based Radar Place Recogn…

Event-based cameras offer much potential to the fields of robotics and computer vision, in part due to their large dynamic range and extremely high "frame rates". These attributes make them, at least in theory, particularly suitable for…

Existing deep embedding methods in vision tasks are capable of learning a compact Euclidean space from images, where Euclidean distances correspond to a similarity metric. To make learning more effective and efficient, hard sample mining is…

Learning contextual and spatial environmental representations enhances autonomous vehicle's hazard anticipation and decision-making in complex scenarios. Recent perception systems enhance spatial understanding with sensor fusion but often…

Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…

Image change detection (ICD) to detect changed objects in front of a vehicle with respect to a place-specific background model using an on-board monocular vision system is a fundamental problem in intelligent vehicle (IV). From the…

Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…

Radar sensors are low cost, long-range, and weather-resilient. Therefore, they are widely used for driver assistance functions, and are expected to be crucial for the success of autonomous driving in the future. In many perception tasks…

Neural radiance fields (NeRFs) are a powerful tool for implicit scene representations, allowing for differentiable rendering and the ability to make predictions about unseen viewpoints. There has been growing interest in object and…

This paper presents a self-supervised framework for learning to detect robust keypoints for odometry estimation and metric localisation in radar. By embedding a differentiable point-based motion estimator inside our architecture, we learn…

We promote in this paper the processing of radar data in the frequency domain to achieve higher robustness against noise and structural errors, especially in comparison to feature-based methods. This holds also for high dynamics in the…

Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…

Accurate localization and mapping in outdoor environments remains challenging when using consumer-grade hardware, particularly with rolling-shutter cameras and low-precision inertial navigation systems (INS). We present a novel semantic…

Place recognition is an important task within autonomous navigation, involving the re-identification of previously visited locations from an initial traverse. Unlike visual place recognition (VPR), LiDAR place recognition (LPR) is tolerant…

Detecting oriented objects along with estimating their rotation information is one crucial step for analyzing remote sensing images. Despite that many methods proposed recently have achieved remarkable performance, most of them directly…

Loop detection plays a key role in visual Simultaneous Localization and Mapping (SLAM) by correcting the accumulated pose drift. In indoor scenarios, the richly distributed semantic landmarks are view-point invariant and hold strong…

Modern cars are incorporating an increasing number of driver assist features, among which automatic lane keeping. The latter allows the car to properly position itself within the road lanes, which is also crucial for any subsequent lane…

Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…

We present an approach to automatically generate semantic labels for real recordings of automotive range-Doppler (RD) radar spectra. Such labels are required when training a neural network for object recognition from radar data. The…

Millimeter-wave (mmWave) radar has emerged as a compact and powerful sensing modality for advanced perception tasks that leverage machine learning. It is particularly effective in scenarios where vision-based sensors fail to capture…

Visual localization is a crucial component in the application of mobile robot and autonomous driving. Image retrieval is an efficient and effective technique in image-based localization methods. Due to the drastic variability of…