相关论文: Large-Scale Topological Radar Localization Using L…

Robust data association is necessary for virtually every SLAM system and finding corresponding points is typically a preprocessing step for scan alignment algorithms. Traditionally, handcrafted feature descriptors were used for these…

Place recognition is a crucial task in autonomous driving, allowing vehicles to determine their position using sensor data. While most existing methods rely on contrastive learning, we explore an alternative approach by framing place…

This paper presents a framework addressing the challenge of global localization in autonomous mobile robotics by integrating LiDAR-based descriptors and Wi-Fi fingerprinting in a pre-mapped environment. This is motivated by the increasing…

In this paper we propose a real-time, calibration-agnostic and effective localization system for self-driving cars. Our method learns to embed the online LiDAR sweeps and intensity map into a joint deep embedding space. Localization is then…

Radar place recognition often involves encoding a live scan as a vector and matching this vector to a database in order to recognise that the vehicle is in a location that it has visited before. Radar is inherently robust to lighting or…

This paper presents a localization technique using aerial imagery maps and LIDAR based ground reflectivity for autonomous vehicles in urban environments. Traditional localization techniques using LIDAR reflectivity rely on high definition…

Recognizing already explored places (a.k.a. place recognition) is a fundamental task in Simultaneous Localization and Mapping (SLAM) to enable robot relocalization and loop closure detection. In topological SLAM the recognition takes place…

In order to perform complex actions in human environments, an autonomous robot needs the ability to understand the environment, that is, to gather and maintain spatial knowledge. Topological map is commonly used for representing large…

One essential step to realize modern driver assistance technology is the accurate knowledge about the location of static objects in the environment. In this work, we use artificial neural networks to predict the occupation state of a whole…

In the present work, a reinforcement learning (RL) based adaptive algorithm to optimise the transmit beampattern for a colocated massive MIMO radar is presented. Under the massive MIMO regime, a robust Wald type detector, able to guarantee…

Deep reinforcement learning (DRL) demonstrates great potential in mapless navigation domain. However, such a navigation model is normally restricted to a fixed configuration of the range sensor because its input format is fixed. In this…

The detection of multiple extended targets in complex environments using high-resolution automotive radar is considered. A data-driven approach is proposed where unlabeled synchronized lidar data is used as ground truth to train a neural…

We propose a local-to-global representation learning algorithm for 3D point cloud data, which is appropriate to handle various geometric transformations, especially rotation, without explicit data augmentation with respect to the…

Localization in the environment is an essential navigational capability for animals and mobile robots. In the indoor environment, the global localization problem remains challenging to be perfectly solved with probabilistic methods.…

Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…

This paper tackles the task of estimating the topology of road networks from aerial images. Building on top of a global model that performs a dense semantical classification of the pixels of the image, we design a Convolutional Neural…

This paper proposes an approach that predicts the road course from camera sensors leveraging deep learning techniques. Road pixels are identified by training a multi-scale convolutional neural network on a large number of full-scene-labeled…

Place recognition is a challenging problem in mobile robotics, especially in unstructured environments or under viewpoint and illumination changes. Most LiDAR-based methods rely on geometrical features to overcome such challenges, as…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

This paper addresses the challenge of navigation in large, visually complex environments with sparse rewards. We propose a method that uses object-oriented macro actions grounded in a topological map, allowing a simple Deep Q-Network (DQN)…