相关论文: Domain-invariant NBV Planner for Active Cross-doma…
Efficiently and completely capturing the three-dimensional data of an object is a fundamental problem in industrial and robotic applications. The task of next-best-view (NBV) planning is to infer the pose of the next viewpoint based on the…
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either…
Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…
Grasping occluded objects in cluttered environments is an essential component in complex robotic manipulation tasks. In this paper, we introduce an AffordanCE-driven Next-Best-View planning policy (ACE-NBV) that tries to find a feasible…
Recent vision-language-action (VLA) models for multi-task robot manipulation often rely on fixed camera setups and shared visual encoders, which limit their performance under occlusions and during cross-task transfer. To address these…
We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…
Fingerprint localization has gained significant attention due to its cost-effective deployment, low complexity, and high efficacy. However, traditional methods, while effective for static data, often struggle in dynamic environments where…
Semantic segmentation is an important technique for environment perception in intelligent transportation systems. With the rapid development of convolutional neural networks (CNNs), road scene analysis can usually achieve satisfactory…
This paper studies image-based geo-localization (IBL) problem using ground-to-aerial cross-view matching. The goal is to predict the spatial location of a ground-level query image by matching it to a large geotagged aerial image database…
Recent work on visual world models shows significant promise in latent state dynamics obtained from pre-trained image backbones. However, most of the current approaches are sensitive to training quality, requiring near-complete coverage of…
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.…
Traditional visual navigation methods of micro aerial vehicle (MAV) usually calculate a passable path that satisfies the constraints depending on a prior map. However, these methods have issues such as high demand for computing resources…
This paper presents Deep-PANTHER, a learning-based perception-aware trajectory planner for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the UAV, and the predicted trajectory and size of the obstacle,…
Traditional Visual Simultaneous Localization and Mapping (VSLAM) systems assume a static environment, which makes them ineffective in highly dynamic settings. To overcome this, many approaches integrate semantic information from deep…
Visual localization is of great importance in robotics and computer vision. Recently, scene coordinate regression based methods have shown good performance in visual localization in small static scenes. However, it still estimates camera…
This paper introduces self-taught object localization, a novel approach that leverages deep convolutional networks trained for whole-image recognition to localize objects in images without additional human supervision, i.e., without using…
Following detection and tracking of traffic actors, prediction of their future motion is the next critical component of a self-driving vehicle (SDV) technology, allowing the SDV to operate safely and efficiently in its environment. This is…
Due to the ability to synthesize high-quality novel views, Neural Radiance Fields (NeRF) have been recently exploited to improve visual localization in a known environment. However, the existing methods mostly utilize NeRFs for data…
We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…
Object detection, instance segmentation, and pose estimation are popular visual recognition tasks which require localizing the object by internal or boundary landmarks. This paper summarizes these tasks as location-sensitive visual…