相关论文: Unsupervised Learning of Lidar Features for Use in…

Deep learning based LiDAR odometry (LO) estimation attracts increasing research interests in the field of autonomous driving and robotics. Existing works feed consecutive LiDAR frames into neural networks as point clouds and match pairs in…

In state-of-the-art deep learning for object recognition, SoftMax and Sigmoid functions are most commonly employed as the predictor outputs. Such layers often produce overconfident predictions rather than proper probabilistic scores, which…

Nowadays, Deep Learning (DL) methods often overcome the limitations of traditional signal processing approaches. Nevertheless, DL methods are barely applied in real-life applications. This is mainly due to limited robustness and…

Neural networks often make predictions relying on the spurious correlations from the datasets rather than the intrinsic properties of the task of interest, facing sharp degradation on out-of-distribution (OOD) test data. Existing de-bias…

In this paper, we propose a deep learning architecture that produces accurate dense depth for the outdoor scene from a single color image and a sparse depth. Inspired by the indoor depth completion, our network estimates surface normals as…

Understanding human motion is crucial for accurate pedestrian trajectory prediction. Conventional methods typically rely on supervised learning, where ground-truth labels are directly optimized against predicted trajectories. This amplifies…

Understanding driving situations regardless the conditions of the traffic scene is a cornerstone on the path towards autonomous vehicles; however, despite common sensor setups already include complementary devices such as LiDAR or radar,…

We propose a novel framework for enhancing robotic adaptability and learning efficiency, which integrates unsupervised trajectory segmentation with adaptive probabilistic movement primitives (ProMPs). By employing a cutting-edge deep…

Safe mobility for unmanned ground vehicles requires reliable detection of other vehicles, along with precise estimates of their locations and trajectories. Here we describe the algorithms and system we have developed for accurate trajectory…

Autonomous vehicles that navigate in open-world environments may encounter previously unseen object classes. However, most existing LiDAR panoptic segmentation models rely on closed-set assumptions, failing to detect unknown object…

Subset selection-based methods are widely used to explain deep vision models: they attribute predictions by highlighting the most influential image regions and support object-level explanations. While these methods perform well in…

In recent years, the LiDAR images, as a 2D compact representation of 3D LiDAR point clouds, are widely applied in various tasks, e.g., 3D semantic segmentation, LiDAR point cloud compression (PCC). Among these works, the optical flow…

We introduce a novel method for odometry estimation using convolutional neural networks from 3D LiDAR scans. The original sparse data are encoded into 2D matrices for the training of proposed networks and for the prediction. Our networks…

Addressing the Out-of-Distribution (OoD) segmentation task is a prerequisite for perception systems operating in an open-world environment. Large foundational models are frequently used in downstream tasks, however, their potential for OoD…

This paper addresses the problem of learning linear dynamical systems from noisy observations. In this setting, existing algorithms either yield biased parameter estimates or have large sample complexities. We resolve these issues by…

We propose GeoNet, a jointly unsupervised learning framework for monocular depth, optical flow and ego-motion estimation from videos. The three components are coupled by the nature of 3D scene geometry, jointly learned by our framework in…

Visual-inertial odometry (VIO) systems traditionally rely on filtering or optimization-based techniques for egomotion estimation. While these methods are accurate under nominal conditions, they are prone to failure during severe…

As small unmanned aerial vehicles (UAVs) become increasingly prevalent, there is growing concern regarding their impact on public safety and privacy, highlighting the need for advanced tracking and trajectory estimation solutions. In…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Training deep convolutional neural networks usually requires a large amount of labeled data. However, it is expensive and time-consuming to annotate data for medical image segmentation tasks. In this paper, we present a novel…