相关论文: Adaptive Hyperparameter Tuning for Black-box LiDAR…

Accurate localization in autonomous driving is critical for successful missions including environmental mapping and survivor searches. In visually challenging environments, including low-light conditions, overexposure, illumination changes,…

We present a robust real-time LiDAR 3D object detector that leverages heteroscedastic aleatoric uncertainties to significantly improve its detection performance. A multi-loss function is designed to incorporate uncertainty estimations…

Online Feedback Optimization leverages properties of optimization algorithms to develop controllers for systems with limited model availability, which is often the case in process control. The interplay between the parameters of the chosen…

We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…

An efficient 3D point cloud learning architecture, named EfficientLO-Net, for LiDAR odometry is first proposed in this paper. In this architecture, the projection-aware representation of the 3D point cloud is proposed to organize the raw 3D…

This paper presents a radar odometry method that combines probabilistic trajectory estimation and deep learned features without needing groundtruth pose information. The feature network is trained unsupervised, using only the on-board radar…

Black-box tuning is an emerging paradigm for adapting large language models (LLMs) to better achieve desired behaviors, particularly when direct access to model parameters is unavailable. Current strategies, however, often present a dilemma…

Online-learning research has mainly been focusing on minimizing one objective function. In many real-world applications, however, several objective functions have to be considered simultaneously. Recently, an algorithm for dealing with…

In this letter, we propose a color-assisted robust framework for accurate LiDAR odometry and mapping (LOAM). Simultaneously receiving data from both the LiDAR and the camera, the framework utilizes the color information from the camera…

In this paper, we propose a method of targetless and automatic Camera-LiDAR calibration. Our approach is an extension of hand-eye calibration framework to 2D-3D calibration. By using the sensor fusion odometry method, the scaled camera…

LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…

We consider the optimization of an uncertain objective over continuous and multi-dimensional decision spaces in problems in which we are only provided with observational data. We propose a novel algorithmic framework that is tractable,…

LiDAR-based 3D object detection has seen impressive advances in recent times. However, deploying trained 3D detectors in the real world often yields unsatisfactory performance when the distribution of the test data significantly deviates…

High-order implicit shock tracking (fitting) is a class of high-order, optimization-based numerical methods to approximate solutions of conservation laws with non-smooth features by aligning elements of the computational mesh with…

In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed an online learning-based leg kinematics model named the…

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.…

Robust 3D object detection is a core challenge for autonomous mobile systems in field robotics. To tackle this issue, many researchers have demonstrated improvements in 3D object detection performance in datasets. However, real-world urban…

Deep learning algorithms have achieved excellent performance lately in a wide range of fields (e.g., computer version). However, a severe challenge faced by deep learning is the high dependency on hyper-parameters. The algorithm results may…

Dynamic mode decomposition (DMD) is a widely used data-driven algorithm for predicting the future states of dynamical systems. However, its standard formulation often struggles with poor long-term predictive accuracy. To address this…

In the era of autonomous driving, urban mapping represents a core step to let vehicles interact with the urban context. Successful mapping algorithms have been proposed in the last decade building the map leveraging on data from a single…