相关论文: StrObe: Streaming Object Detection from LiDAR Pack…

Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…

Fisheye cameras are widely employed in automatic parking, and the video stream object detection (VSOD) of the fisheye camera is a fundamental perception function to ensure the safe operation of vehicles. In past research work, the…

This paper addresses the challenge of Lidar-Inertial Odometry (LIO) in dynamic environments, where conventional methods often fail due to their static-world assumptions. Traditional LIO algorithms perform poorly when dynamic objects…

We present INDOOR-LIDAR, a comprehensive hybrid dataset of indoor 3D LiDAR point clouds designed to advance research in robot perception. Existing indoor LiDAR datasets often suffer from limited scale, inconsistent annotation formats, and…

Recently, considerable research attention has been paid to network embedding, a popular approach to construct feature vectors of vertices. Due to the curse of dimensionality and sparsity in graphical datasets, this approach has become…

The attention-based Transformer model has achieved promising results for speech recognition (SR) in the offline mode. However, in the streaming mode, the Transformer model usually incurs significant latency to maintain its recognition…

Lidar-based perception pipelines rely on 3D object detection models to interpret complex scenes. While multiple representations for lidar exist, the range-view is enticing since it losslessly encodes the entire lidar sensor output. In this…

The acquisition of large-scale physical interaction data, a critical prerequisite for modern robot learning, is severely bottlenecked by the prohibitive cost and scalability limits of human-in-the-loop collection paradigms. To break this…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

State-of-the-art lidar panoptic segmentation (LPS) methods follow bottom-up segmentation-centric fashion wherein they build upon semantic segmentation networks by utilizing clustering to obtain object instances. In this paper, we re-think…

As a bio-inspired vision sensor, the spike camera emulates the operational principles of the fovea, a compact retinal region, by employing spike discharges to encode the accumulation of per-pixel luminance intensity. Leveraging its high…

Scene Text Recognition (STR), the task of recognizing text against complex image backgrounds, is an active area of research. Current state-of-the-art (SOTA) methods still struggle to recognize text written in arbitrary shapes. In this…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and…

On the journey to enable robots to interact with the real world where humans, animals, and unpredictable elements are acting as independent agents; it is crucial for robots to have the capability to detect dynamic objects. In this paper, we…

A streaming algorithm to compute the spectral proper orthogonal decomposition (SPOD) of stationary random processes is presented. As new data becomes available, an incremental update of the truncated eigenbasis of the estimated…

In recent years, with the rapid development of sensing technology and the Internet of Things (IoT), sensors play increasingly important roles in traffic control, medical monitoring, industrial production and etc. They generated high volume…

For human-centric large-scale scenes, fine-grained modeling for 3D human global pose and shape is significant for scene understanding and can benefit many real-world applications. In this paper, we present LiveHPS, a novel…

Although instance-aware perception is a key prerequisite for many autonomous robotic applications, most of the methods only partially solve the problem by focusing solely on known object categories. However, for robots interacting in…

Aerial surveillance and monitoring demand both real-time and robust motion detection from a moving camera. Most existing techniques for drones involve sending a video data streams back to a ground station with a high-end desktop computer or…