相关论文: AirLoop: Lifelong Loop Closure Detection

The goal of continual learning (CL) is to learn a sequence of tasks without suffering from the phenomenon of catastrophic forgetting. Previous work has shown that leveraging memory in the form of a replay buffer can reduce performance…

Replaying past experiences has proven to be a highly effective approach for averting catastrophic forgetting in supervised continual learning. However, some crucial factors are still largely ignored, making it vulnerable to serious failure,…

Despite remarkable successes achieved by modern neural networks in a wide range of applications, these networks perform best in domain-specific stationary environments where they are trained only once on large-scale controlled data…

Although an ever-growing number of applications employ deep learning based systems for prediction, decision-making, or state estimation, almost no certification processes have been established that would allow such systems to be deployed in…

Sample selection is a prevalent method in learning with noisy labels, where small-loss data are typically considered as correctly labeled data. However, this method may not effectively identify clean hard examples with large losses, which…

Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice, localization becomes unreliable when the robot observes…

This paper implements Simultaneous Localization and Mapping (SLAM) technique to construct a map of a given environment. A Real Time Appearance Based Mapping (RTAB-Map) approach was taken for accomplishing this task. Initially, a 2d…

Visual Object Goal Navigation (ObjectNav) requires a robot to locate a target object in an unseen environment using egocentric observations. However, decision-making policies often struggle to transfer to unseen environments and novel…

Benefiting from massive corpora and advanced hardware, large language models (LLMs) exhibit remarkable capabilities in language understanding and generation. However, their performance degrades in scenarios where multiple tasks are…

Visual-inertial SLAM is essential for robot navigation in GPS-denied environments, e.g. indoor, underground. Conventionally, the performance of visual-inertial SLAM is evaluated with open-loop analysis, with a focus on the drift level of…

Artificial intelligence systems in critical fields like autonomous driving and medical imaging analysis often continually learn new tasks using a shared stream of input data. For instance, after learning to detect traffic signs, a model may…

Training deep neural networks at the edge on light computational devices, embedded systems and robotic platforms is nowadays very challenging. Continual learning techniques, where complex models are incrementally trained on small batches of…

Neural field-based 3D representations have recently been adopted in many areas including SLAM systems. Current neural SLAM or online mapping systems lead to impressive results in the presence of simple captures, but they rely on a…

To support future spatial machine intelligence applications, lifelong simultaneous localization and mapping (SLAM) has drawn significant attentions. SLAM is usually realized based on various types of mobile robots performing simultaneous…

Multi-class supervised learning systems require the knowledge of the entire range of labels they predict. Often when learnt incrementally, they suffer from catastrophic forgetting. To avoid this, generous leeways have to be made to the…

Deep neural networks have demonstrated susceptibility to adversarial attacks. Adversarial defense techniques often focus on one-shot setting to maintain robustness against attack. However, new attacks can emerge in sequences in real-world…

We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…

This paper presents a loop closure method to correct the long-term drift in LiDAR odometry and mapping (LOAM). Our proposed method computes the 2D histogram of keyframes, a local map patch, and uses the normalized cross-correlation of the…

Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longstanding challenge. With the recent rise of large language…

Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots. A na\"{\i}ve approach to data sharing can easily lead to a…