相关论文: AirLoop: Lifelong Loop Closure Detection

As Advanced Persistent Threat (APT) complexity increases, provenance data is increasingly used for detection. Anomaly-based systems are gaining attention due to their attack-knowledge-agnostic nature and ability to counter zero-day…

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…

Semantic object mapping in uncertain, perceptually degraded environments during long-range multi-robot autonomous exploration tasks such as search-and-rescue is important and challenging. During such missions, high recall is desirable to…

Simultaneous localization and mapping (SLAM) frameworks for autonomous navigation rely on robust data association to identify loop closures for back-end trajectory optimization. In the case of autonomous underwater vehicles (AUVs) equipped…

Lifelong learning (LL) aims to improve a predictive model as the data source evolves continuously. Most work in this learning paradigm has focused on resolving the problem of 'catastrophic forgetting,' which refers to a notorious dilemma…

The ability to learn in dynamic, nonstationary environments without forgetting previous knowledge, also known as Continual Learning (CL), is a key enabler for scalable and trustworthy deployments of adaptive solutions. While the importance…

Robust efficient loop closure detection is essential for large-scale real-time SLAM. In this paper, we propose a novel unsupervised deep neural network architecture of a feature embedding for visual loop closure that is both reliable and…

Humans and animals have the ability to continually acquire, fine-tune, and transfer knowledge and skills throughout their lifespan. This ability, referred to as lifelong learning, is mediated by a rich set of neurocognitive mechanisms that…

Continual learning approaches help deep neural network models adapt and learn incrementally by trying to solve catastrophic forgetting. However, whether these existing approaches, applied traditionally to image-based tasks, work with the…

Approaches to continual learning aim to successfully learn a set of related tasks that arrive in an online manner. Recently, several frameworks have been developed which enable deep learning to be deployed in this learning scenario. A key…

In this paper, we propose a continual learning (CL) technique that is beneficial to sequential task learners by improving their retained accuracy and reducing catastrophic forgetting. The principal target of our approach is the automatic…

The environment of most real-world scenarios such as malls and supermarkets changes at all times. A pre-built map that does not account for these changes becomes out-of-date easily. Therefore, it is necessary to have an up-to-date model of…

The performance of visual SLAM in complex, real-world scenarios is often compromised by unreliable feature extraction and matching when using handcrafted features. Although deep learning-based local features excel at capturing high-level…

Simultaneous Localization and Mapping (SLAM) is considered an ever-evolving problem due to its usage in many applications. Evaluation of SLAM is done typically using publicly available datasets which are increasing in number and the level…

This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…

Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is…

Real-time semantic segmentation models offer an excellent balance between accuracy and inference speed. However, deploying these models in dynamic real world environments often requires the ability to learn novel classes incrementally…

Recent advances in object detection have benefited significantly from rapid developments in deep neural networks. However, neural networks suffer from the well-known issue of catastrophic forgetting, which makes continual or lifelong…

Modern lane detection methods have achieved remarkable performances in complex real-world scenarios, but many have issues maintaining real-time efficiency, which is important for autonomous vehicles. In this work, we propose LaneATT: an…

In the context of urban autonomous driving, imitation learning-based methods have shown remarkable effectiveness, with a typical practice to minimize the discrepancy between expert driving logs and predictive decision sequences. As expert…