相关论文: AirLoop: Lifelong Loop Closure Detection

Inter-robot loop closure detection is a core problem in collaborative SLAM (CSLAM). Establishing inter-robot loop closures is a resource-demanding process, during which robots must consume a substantial amount of mission-critical resources…

Federated continual learning (FCL) allows distributed autonomous fleets to adapt collaboratively to evolving terrain types across extended mission lifecycles. However, current approaches face several key challenges: 1) they use uniform…

Deep learning approaches are nowadays ubiquitously used to tackle computer vision tasks such as semantic segmentation, requiring large datasets and substantial computational power. Continual learning for semantic segmentation (CSS) is an…

Loop closing and relocalization are crucial techniques to establish reliable and robust long-term SLAM by addressing pose estimation drift and degeneration. This article begins by formulating loop closing and relocalization within a unified…

Predictive process monitoring (PPM) focuses on predicting future process trajectories, including next activity predictions. This is crucial in dynamic environments where processes change or face uncertainty. However, current frameworks…

We present a simple yet effective method to address loop closure detection in simultaneous localisation and mapping using local 3D deep descriptors (L3Ds). L3Ds are emerging compact representations of patches extracted from point clouds…

Pilot readback of Air Traffic Control (ATC) voice instructions is a primary safeguard against miscommunication in air transportation. However, readback anomalies remain implicated in approximately 80% of aviation incidents. This…

Simultaneous Localization and Mapping (SLAM) allows mobile robots to navigate without external positioning systems or pre-existing maps. Radar is emerging as a valuable sensing tool, especially in vision-obstructed environments, as it is…

Linear Recurrence has proven to be a powerful tool for modeling long sequences efficiently. In this work, we show that existing models fail to take full advantage of its potential. Motivated by this finding, we develop GateLoop, a…

Significant advances have been made recently in Visual Place Recognition (VPR), feature correspondence, and localization due to the proliferation of deep-learning-based methods. However, existing approaches tend to address, partially or…

Continual lifelong learning is essential to many applications. In this paper, we propose a simple but effective approach to continual deep learning. Our approach leverages the principles of deep model compression, critical weights…

Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core…

Learning robot policies using imitation learning requires collecting large amounts of costly action-labeled expert demonstrations, which fundamentally limits the scale of training data. A promising approach to address this bottleneck is to…

LiDAR-based SLAM system is admittedly more accurate and stable than others, while its loop closure detection is still an open issue. With the development of 3D semantic segmentation for point cloud, semantic information can be obtained…

Recently, Large Language Models (LLMs) have witnessed remarkable performance as zero-shot task planners for robotic manipulation tasks. However, the open-loop nature of previous works makes LLM-based planning error-prone and fragile. On the…

Learning to safely navigate in unknown environments is an important task for autonomous drones used in surveillance and rescue operations. In recent years, a number of learning-based Simultaneous Localisation and Mapping (SLAM) systems…

In speech deepfake detection, one of the critical aspects is developing detectors able to generalize on unseen data and distinguish fake signals across different datasets. Common approaches to this challenge involve incorporating diverse…

Continual Learning (CL) aims to learn new data while remembering previously acquired knowledge. In contrast to CL for image classification, CL for Object Detection faces additional challenges such as the missing annotations problem. In this…

Recent advances in autonomous driving research towards motion planners that are robust, safe, and adaptive. However, existing rule-based and data-driven planners lack adaptability to long-tail scenarios, while knowledge-driven methods offer…

Scene coordinate regression achieves impressive results in outdoor LiDAR localization but requires days of training. Since training needs to be repeated for each new scene, long training times make these methods impractical for…