相关论文: Line-Circle-Square (LCS): A Multilayered Geometric…

In this paper we propose a modular nonlinear least squares filtering approach for systems composed of independent subsystems. The state and error covariance estimate of each subsystem is updated independently, even when a relative…

Lane detection, the process of identifying lane markings as approximated curves, is widely used for lane departure warning and adaptive cruise control in autonomous vehicles. The popular pipeline that solves it in two steps -- feature…

The paper presents a new model for single channel images low-level interpretation. The image is decomposed into a graph which captures a complete set of structural features. The description allows to accurately identify every edge location…

In this paper, we address the problem of autonomous multi-robot mapping, exploration and navigation in unknown, GPS-denied indoor or urban environments using a swarm of robots equipped with directional sensors with limited sensing…

Non-line-of-sight (NLOS) imaging is a rapidly growing field seeking to form images of objects outside the field of view, with potential applications in search and rescue, reconnaissance, and even medical imaging. The critical challenge of…

LiDAR sensors are widely used for 3D object detection in various mobile robotics applications. LiDAR sensors continuously generate point cloud data in real-time. Conventional 3D object detectors detect objects using a set of points acquired…

Learning object segmentation in image and video datasets without human supervision is a challenging problem. Humans easily identify moving salient objects in videos using the gestalt principle of common fate, which suggests that what moves…

The aim of this paper is to present a new method of approximation of planar data set using only arcs or segments. The first problem we are trying to solve is the following: the CNC machines can work only with simple curves (arcs or…

Object detection is a core component of perception systems, providing the ego vehicle with information about its surroundings to ensure safe route planning. While cameras and Lidar have significantly advanced perception systems, their…

Collaborative object localization aims to collaboratively estimate locations of objects observed from multiple views or perspectives, which is a critical ability for multi-agent systems such as connected vehicles. To enable collaborative…

Camouflaged object detection (COD), segmenting objects that are elegantly blended into their surroundings, is a valuable yet challenging task. Existing deep-learning methods often fall into the difficulty of accurately identifying the…

Feature engineering plays an important role in the success of a machine learning model. Most of the effort in training a model goes into data preparation and choosing the right representation. In this paper, we propose a robust feature…

Pose-graph SLAM is the de facto standard framework for constructing large-scale maps from multi-session experiences of relative observations and motions during visual robot navigation. It has received increasing attention in the context of…

In this work, we present a practical approach to the problem of facial landmark detection. The proposed method can deal with large shape and appearance variations under the rich shape deformation. To handle the shape variations we equip our…

Edge detection, as a fundamental task in computer vision, has garnered increasing attention. The advent of deep learning has significantly advanced this field. However, recent deep learning-based methods generally face two significant…

Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

The problem of polycube construction or deformation is an essential problem in computer graphics. In this paper, we present a robust, simple, efficient and automatic algorithm to deform the meshes of arbitrary shapes into their polycube…

Loop Closure Detection (LCD) is an essential task in robotics and computer vision, serving as a fundamental component for various applications across diverse domains. These applications encompass object recognition, image retrieval, and…

In this paper, we investigate the problem of grasping novel objects in unstructured environments. To address this problem, consideration of the object geometry, reachability and force closure analysis are required. We propose a framework…