相关论文: Learning Multiplicative Interactions with Bayesian…

Variational Autoencoders (VAEs) are a powerful framework for learning latent representations of reduced dimensionality, while Neural ODEs excel in learning transient system dynamics. This work combines the strengths of both to generate fast…

Multimodal networks have demonstrated remarkable performance improvements over their unimodal counterparts. Existing multimodal networks are designed in a multi-branch fashion that, due to the reliance on fusion strategies, exhibit…

Humans activate muscles to shape the mechanical interaction with their environment, but can they harness this control mechanism to best sense the environment? We investigated how participants adapt their muscle activation to visual and…

Making sense of multiple modalities can yield a more comprehensive description of real-world phenomena. However, learning the co-representation of diverse modalities is still a long-standing endeavor in emerging machine learning…

Multi-view data from the same source often exhibit correlation. This is mirrored in correlation between the latent spaces of separate variational autoencoders (VAEs) trained on each data-view. A multi-view VAE approach is proposed that…

Predicting future sensory states is crucial for learning agents such as robots, drones, and autonomous vehicles. In this paper, we couple multiple sensory modalities with exploratory actions and propose a predictive neural network…

Multimodal variational autoencoders (VAEs) aim to capture shared latent representations by integrating information from different data modalities. A significant challenge is accurately inferring representations from any subset of modalities…

Multimodal embedding models, built upon causal Vision Language Models (VLMs), have shown promise in various tasks. However, current approaches face three key limitations: the use of causal attention in VLM backbones is suboptimal for…

End-to-end learning from sensory data has shown promising results in autonomous driving. While employing many sensors enhances world perception and should lead to more robust and reliable behavior of autonomous vehicles, it is challenging…

Integration of Visual Inertial Odometry (VIO) methods into a modular control system designed for deployment of Unmanned Aerial Vehicles (UAVs) and teams of cooperating UAVs in real-world conditions are presented in this paper. Reliability…

We propose an adaptation to the training of Vision Transformers (ViTs) that allows for an explicit modeling of objects during the attention computation. This is achieved by adding a new branch to selected attention layers that computes an…

In this paper we introduce MLINE-VINS, a novel monocular visual-inertial odometry (VIO) system that leverages line features and Manhattan Word assumption. Specifically, for line matching process, we propose a novel geometric line optical…

Most existing visual-inertial odometry (VIO) initialization methods rely on accurate pre-calibrated extrinsic parameters. However, during long-term use, irreversible structural deformation caused by temperature changes, mechanical…

Many applications in image-guided surgery and therapy require fast and reliable non-linear, multi-modal image registration. Recently proposed unsupervised deep learning-based registration methods have demonstrated superior performance…

The research into autonomous driving applications has observed an increase in computer vision-based approaches in recent years. In attempts to develop exclusive vision-based systems, visual odometry is often considered as a key element to…

Visual prompt-based methods have seen growing interest in incremental learning (IL) for image classification. These approaches learn additional embedding vectors while keeping the model frozen, making them efficient to train. However, no…

Visual odometry shows excellent performance in a wide range of environments. However, in visually-denied scenarios (e.g. heavy smoke or darkness), pose estimates degrade or even fail. Thermal cameras are commonly used for perception and…

Breakthroughs in visual odometry (VO) have fundamentally reshaped the landscape of robotics, enabling ultra-precise camera state estimation that is crucial for modern autonomous systems. Despite these advances, many learning-based VO…

In recent years, unsupervised deep learning approaches have received significant attention to estimate the depth and visual odometry (VO) from unlabelled monocular image sequences. However, their performance is limited in challenging…

In this work, we propose an interoceptive-only state estimation system for a quadrotor with deep neural network processing, where the quadrotor dynamics is considered as a perceptive supplement of the inertial kinematics. To improve the…