相关论文: AttDLNet: Attention-based DL Network for 3D LiDAR …

A key component of graph-based SLAM systems is the ability to detect loop closures in a trajectory to reduce the drift accumulated over time from the odometry. Most LiDAR-based methods achieve this goal by using only the geometric…

Due to the aged nature of much of the utility network infrastructure, developing a robust and trustworthy computer vision system capable of inspecting it with minimal human intervention has attracted considerable research attention. The…

Channel estimation is one of the key issues in practical massive multiple-input multiple-output (MIMO) systems. Compared with conventional estimation algorithms, deep learning (DL) based ones have exhibited great potential in terms of…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

Recent machine learning models have shown that including attention as a component results in improved model accuracy and interpretability, despite the concept of attention in these approaches only loosely approximating the brain's attention…

Place recognition and loop-closure detection are main challenges in the localization, mapping and navigation tasks of self-driving vehicles. In this paper, we solve the loop-closure detection problem by incorporating the deep-learning based…

This study investigates the application of PointNet and PointNet++ in the classification of LiDAR-generated point cloud data, a critical component for achieving fully autonomous vehicles. Utilizing a modified dataset from the Lyft 3D Object…

The ability for an agent to localize itself within an environment is crucial for many real-world applications. For unknown environments, Simultaneous Localization and Mapping (SLAM) enables incremental and concurrent building of and…

Graph neural networks (GNNs) have brought revolutionary advancements to the field of link prediction (LP), providing powerful tools for mining potential relationships in graphs. However, existing methods face challenges when dealing with…

Incorporating deep learning (DL) classification models into unmanned aerial vehicles (UAVs) can significantly augment search-and-rescue operations and disaster management efforts. In such critical situations, the UAV's ability to promptly…

Deep learning (DL) has achieved great success in many applications, but it has been less well analyzed from the theoretical perspective. The unexplainable success of black-box DL models has raised questions among scientists and promoted the…

Land Use Land Cover (LULC) classification is essential for national 3D mapping, geospatial analysis, and sustainable planning. Multispectral (MS) LiDAR provides synchronized spatial-spectral information, and deep learning (DL) enables 3D…

LiDAR-based place recognition (LPR) is one of the most crucial components of autonomous vehicles to identify previously visited places in GPS-denied environments. Most existing LPR methods use mundane representations of the input point…

Deep learning has achieved impressive results in camera localization, but current single-image techniques typically suffer from a lack of robustness, leading to large outliers. To some extent, this has been tackled by sequential…

This paper focuses on the construction of stronger local features and the effective fusion of image and LiDAR data. We adopt different modalities of LiDAR data to generate richer features and present an adaptive and azimuth-aware network to…

Super-resolution of LiDAR range images is crucial to improving many downstream tasks such as object detection, recognition, and tracking. While deep learning has made a remarkable advances in super-resolution techniques, typical…

LiDAR loop closure detection (LCD) is crucial for consistent Simultaneous Localization and Mapping (SLAM) but faces challenges in robustness and accuracy. Existing methods, including semantic graph approaches, often suffer from coarse…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

Point clouds have shown significant potential in various domains, including Simultaneous Localization and Mapping (SLAM). However, existing approaches either rely on dense point clouds to achieve high localization accuracy or use…

Object segmentation in three-dimensional (3-D) point clouds is a critical task for robots capable of 3-D perception. Despite the impressive performance of deep learning-based approaches on object segmentation in 2-D images, deep learning…