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

High frame rate and accurate depth estimation plays an important role in several tasks crucial to robotics and automotive perception. To date, this can be achieved through ToF and LiDAR devices for indoor and outdoor applications,…

Real-time processing of data streams emanating from sensors is becoming a common task in Internet of Things scenarios. The key implementation goal consists in efficiently handling massive incoming data streams and supporting advanced data…

Perception in fields like robotics, manufacturing, and data analysis generates large volumes of temporal and spatial data to effectively capture their environments. However, sorting through this data for specific scenarios is a meticulous…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

To detect anomalies in real-world graphs, such as social, email, and financial networks, various approaches have been developed. While they typically assume static input graphs, most real-world graphs grow over time, naturally represented…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…

To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes…

3D object detection is essential in autonomous driving, providing vital information about moving objects and obstacles. Detecting objects in distant regions with only a few LiDAR points is still a challenge, and numerous strategies have…

The completion, extension, and generation of 3D semantic scenes are an interrelated set of capabilities that are useful for robotic navigation and exploration. Existing approaches seek to decouple these problems and solve them one-off.…

Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…

Place recognition is an important component for autonomous vehicles to achieve loop closing or global localization. In this paper, we tackle the problem of place recognition based on sequential 3D LiDAR scans obtained by an onboard LiDAR…

Because scanning-LIDAR sensors require finite time to create a point cloud, sensor motion during a scan warps the resulting image, a phenomenon known as motion distortion or rolling shutter. Motion-distortion correction methods exist, but…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

This paper describes a systematic approach towards building a new family of neural networks based on a delay-loop version of a reservoir neural network. The resulting architecture, called Scaled-Time-Attention Robust Edge (STARE) network,…

Procedure step recognition (PSR) aims to identify all correctly completed steps and their sequential order in videos of procedural tasks. The existing state-of-the-art models rely solely on detecting assembly object states in individual…

Lane detection is one of the most important functions for autonomous driving. In recent years, deep learning-based lane detection networks with RGB camera images have shown promising performance. However, camera-based methods are inherently…

We propose a method for learning from streaming visual data using a compact, constant size representation of all the data that was seen until a given moment. Specifically, we construct a 'coreset' representation of streaming data using a…

In dynamic traffic environments, motion forecasting models must be able to accurately estimate future trajectories continuously. Streaming-based methods are a promising solution, but despite recent advances, their performance often degrades…

LiDAR Odometry is an essential component in many robotic applications. Unlike the mainstreamed approaches that focus on improving the accuracy by the additional inertial sensors, this letter explores the capability of LiDAR-only odometry…

The use of commercial Micro Aerial Vehicles (MAVs) has surged in the past decade, offering societal benefits but also raising risks such as airspace violations and privacy concerns. Due to the increased security risks, the development of…