相关论文: Domain-invariant NBV Planner for Active Cross-doma…

We tackle the problem of novel class discovery and localization (NCDL). In this setting, we assume a source dataset with supervision for only some object classes. Instances of other classes need to be discovered, classified, and localized…

Deep learning-based domain-invariant feature learning methods are advancing in near-infrared and visible (NIR-VIS) heterogeneous face recognition. However, these methods are prone to overfitting due to the large intra-class variation and…

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…

Parking is a critical pillar of driving safety. While recent end-to-end (E2E) approaches have achieved promising in-domain results, robustness under domain shifts (e.g., weather and lighting changes) remains a key challenge. Rather than…

Modern learning-based visual feature extraction networks perform well in intra-domain localization, however, their performance significantly declines when image pairs are captured across long-term visual domain variations, such as different…

Deep Neural Networks trained in a fully supervised fashion are the dominant technology in perception-based autonomous driving systems. While collecting large amounts of unlabeled data is already a major undertaking, only a subset of it can…

Existing view planning systems either adopt an iterative paradigm using next-best views (NBV) or a one-shot pipeline relying on the set-covering view-planning (SCVP) network. However, neither of these methods can concurrently guarantee both…

We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…

Visual place recognition is a challenging task for applications such as autonomous driving navigation and mobile robot localization. Distracting elements presenting in complex scenes often lead to deviations in the perception of visual…

To carry out autonomous 3D scanning and online reconstruction of unknown indoor scenes, one has to find a balance between global exploration of the entire scene and local scanning of the objects within it. In this work, we propose a novel…

We present a novel monocular localization framework by jointly training deep learning-based depth prediction and Bayesian filtering-based pose reasoning. The proposed cross-modal framework significantly outperforms deep learning-only…

This work proposes an autonomous docking control for nonholonomic constrained mobile robots and applies it to an intelligent mobility device or wheelchair for assisting the user in approaching resting furniture such as a chair or a bed. We…

Reliable long-term deployment of autonomous robots in agricultural environments remains challenging due to perceptual aliasing, seasonal variability, and the dynamic nature of crop canopies. Vineyards, characterized by repetitive row…

Road segmentation in challenging domains, such as night, snow or rain, is a difficult task. Most current approaches boost performance using fine-tuning, domain adaptation, style transfer, or by referencing previously acquired imagery. These…

We present a vehicle self-localization method using point-based deep neural networks. Our approach processes measurements and point features, i.e. landmarks, from a high-definition digital map to infer the vehicle's pose. To learn the best…

Spatio-temporal action localization is an important problem in computer vision that involves detecting where and when activities occur, and therefore requires modeling of both spatial and temporal features. This problem is typically…

Vision-Language Navigation in Continuous Environments (VLNCE), where an agent follows instructions and moves freely to reach a destination, is a key research problem in embodied AI. However, most existing approaches are sensitive to…

Convolutional neural networks (CNNs) have demonstrated gratifying results at learning discriminative features. However, when applied to unseen domains, state-of-the-art models are usually prone to errors due to domain shift. After…

As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled. This coupling is well-captured by augmenting the planning…

Deep Learning (DL) has brought significant advances to robotics vision tasks. However, most existing DL methods have a major shortcoming, they rely on a static inference paradigm inherent in traditional computer vision pipelines. On the…