相关论文: AirLoop: Lifelong Loop Closure Detection

Climate-induced disasters are and will continue to be on the rise, and thus search-and-rescue (SAR) operations, where the task is to localize and assist one or several people who are missing, become increasingly relevant. In many cases the…

In this paper, we present an efficient visual SLAM system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and…

Visual simultaneous localization and mapping (SLAM) systems face challenges in detecting loop closure under the circumstance of large viewpoint changes. In this paper, we present an object-based loop closure detection method based on the…

Continual learning (CL) aims to incrementally learn different tasks (such as classification) in a non-stationary data stream without forgetting old ones. Most CL works focus on tackling catastrophic forgetting under a learning-from-scratch…

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…

Sequential learning of tasks using gradient descent leads to an unremitting decline in the accuracy of tasks for which training data is no longer available, termed catastrophic forgetting. Generative models have been explored as a means to…

Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…

Although numerous machine learning models exist to detect issues like rolling bearing strain and deformation, typically caused by improper mounting, overloading, or poor lubrication, these models often struggle to isolate faults from the…

Human beings are able to master a variety of knowledge and skills with ongoing learning. By contrast, dramatic performance degradation is observed when new tasks are added to an existing neural network model. This phenomenon, termed as…

Lifelong event detection aims to incrementally update a model with new event types and data while retaining the capability on previously learned old types. One critical challenge is that the model would catastrophically forget old types…

Loop closure detection plays an important role in reducing localization drift in Simultaneous Localization And Mapping (SLAM). It aims to find repetitive scenes from historical data to reset localization. To tackle the loop closure problem,…

Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The place recognition community has made astonishing progress…

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…

LiDAR place recognition plays a crucial role in SLAM, robot navigation, and autonomous driving. However, existing LiDAR place recognition methods often struggle to adapt to new environments without forgetting previously learned knowledge, a…

Lifelong learning algorithms enable models to incrementally acquire new knowledge without forgetting previously learned information. Contrarily, the field of machine unlearning focuses on explicitly forgetting certain previous knowledge…

We present BioSLAM, a lifelong SLAM framework for learning various new appearances incrementally and maintaining accurate place recognition for previously visited areas. Unlike humans, artificial neural networks suffer from catastrophic…

Continual lifelong learning requires an agent or model to learn many sequentially ordered tasks, building on previous knowledge without catastrophically forgetting it. Much work has gone towards preventing the default tendency of machine…

Deep learning-based image retrieval techniques for the loop closure detection demonstrate satisfactory performance. However, it is still challenging to achieve high-level performance based on previously trained models in different…

Lifelong learning is a long-standing aim for artificial agents that act in dynamic environments, in which an agent needs to accumulate knowledge incrementally without forgetting previously learned representations. We investigate methods for…

Protein structure prediction is a critical and longstanding challenge in biology, garnering widespread interest due to its significance in understanding biological processes. A particular area of focus is the prediction of missing loops in…