相关论文: Radar-to-Lidar: Heterogeneous Place Recognition vi…
Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…
Heterogeneous Information Network (HIN) embedding refers to the low-dimensional projections of the HIN nodes that preserve the HIN structure and semantics. HIN embedding has emerged as a promising research field for network analysis as it…
The heterogeneity-gap between different modalities brings a significant challenge to multimedia information retrieval. Some studies formalize the cross-modal retrieval tasks as a ranking problem and learn a shared multi-modal embedding…
Fusing Radar and Lidar sensor data can fully utilize their complementary advantages and provide more accurate reconstruction of the surrounding for autonomous driving systems. Surround Radar/Lidar can provide 360-degree view sampling with…
Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimation drift. However, achieving real-time performance remains…
This paper introduces a novel deep-learning approach for human-to-robot motion retargeting, enabling robots to mimic human poses accurately. Contrary to prior deep-learning-based works, our method does not require paired human-to-robot…
Heterogeneous networks are widely used to model real-world semi-structured data. The key challenge of learning over such networks is the modeling of node similarity under both network structures and contents. To deal with network…
This paper presents an novel object type classification method for automotive applications which uses deep learning with radar reflections. The method provides object class information such as pedestrian, cyclist, car, or non-obstacle. The…
LiDAR place recognition is a critical capability for autonomous navigation and cross-modal localization in large-scale outdoor environments. Existing approaches predominantly depend on pre-built 3D dense maps or aerial imagery, which impose…
In this paper we propose a novel approach to tracking by detection that can exploit both cameras as well as LIDAR data to produce very accurate 3D trajectories. Towards this goal, we formulate the problem as a linear program that can be…
A major challenge in place recognition for autonomous driving is to be robust against appearance changes due to short-term (e.g., weather, lighting) and long-term (seasons, vegetation growth, etc.) environmental variations. A promising…
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…
LiDAR-based global localization is a fundamental problem for mobile robots. It consists of two stages, place recognition and pose estimation, which yields the current orientation and translation, using only the current scan as query and a…
Place recognition, the ability to identify previously visited locations, is critical for both biological navigation and autonomous systems. This review synthesizes findings from robotic systems, animal studies, and human research to explore…
Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…
Accurate camera models are essential for photogrammetry applications such as 3D mapping and object localization, particularly for long distances. Various stereo-camera based 3D localization methods are available but are limited to few…
Although haptic sensing has recently been used for legged robot localization in extreme environments where a camera or LiDAR might fail, the problem of efficiently representing the haptic signatures in a learned prior map is still open.…
Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…
We address the problem of vehicle self-localization from multi-modal sensor information and a reference map. The map is generated off-line by extracting landmarks from the vehicle's field of view, while the measurements are collected…
Training a deep object detector for autonomous driving requires a huge amount of labeled data. While recording data via on-board sensors such as camera or LiDAR is relatively easy, annotating data is very tedious and time-consuming,…