相关论文: PSE-Match: A Viewpoint-free Place Recognition Meth…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process…

Zero-shot object navigation in unknown environments presents significant challenges, mainly due to two key limitations: insufficient semantic guidance leads to inefficient exploration, while limited spatial memory resulting from…

Point clouds are a key modality used for perception in autonomous vehicles, providing the means for a robust geometric understanding of the surrounding environment. However despite the sensor outputs from autonomous vehicles being naturally…

We present an approach for detecting and estimating the 3D poses of objects in images that requires only an untextured CAD model and no training phase for new objects. Our approach combines Deep Learning and 3D geometry: It relies on an…

We propose a novel approach to feature point matching, suitable for robust and accurate outdoor visual localization in long-term scenarios. Given a query image, we first match it against a database of registered reference images, using…

To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…

Jointing visual-semantic embeddings (VSE) have become a research hotpot for the task of image annotation, which suffers from the issue of semantic gap, i.e., the gap between images' visual features (low-level) and labels' semantic features…

Place recognition plays a crucial role in the fields of robotics and computer vision, finding applications in areas such as autonomous driving, mapping, and localization. Place recognition identifies a place using query sensor data and a…

Accurate depth estimation is critical for autonomous driving perception systems, particularly for long range vehicle detection on highways. Traditional dense stereo matching methods such as Block Matching (BM) and Semi Global Matching (SGM)…

Visual localization is the task of estimating a 6-DoF camera pose of a query image within a provided 3D reference map. Thanks to recent advances in various 3D sensors, 3D point clouds are becoming a more accurate and affordable option for…

Place recognition is essential for achieving closed-loop or global positioning in autonomous vehicles and mobile robots. Despite recent advancements in place recognition using 2D cameras or 3D LiDAR, it remains to be seen how to use 4D…

We propose BEV-Patch-PF, a GPS-free sequential geo-localization system that integrates a particle filter with learned bird's-eye-view (BEV) and aerial feature maps. From onboard RGB and depth images, we construct a BEV feature map. For each…

Accurate and robust visual localization under a wide range of viewing condition variations including season and illumination changes, as well as weather and day-night variations, is the key component for many computer vision and robotics…

Current techniques in Visual Simultaneous Localization and Mapping (VSLAM) estimate camera displacement by comparing image features of consecutive scenes. These algorithms depend on scene continuity, hence requires frequent camera inputs.…

Semantic image segmentation is an essential component of modern autonomous driving systems, as an accurate understanding of the surrounding scene is crucial to navigation and action planning. Current state-of-the-art approaches in semantic…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

Point clouds have been widely adopted in 3D semantic scene understanding. However, point clouds for typical tasks such as 3D shape segmentation or indoor scenario parsing are much denser than outdoor LiDAR sweeps for the application of…

Autonomous agents often require accurate methods for detecting and localizing changes in their environment, particularly when observations are captured from unconstrained and inconsistent viewpoints. We propose a novel label-free,…