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

This paper proposes a spatiotemporal architecture with a deep neural network (DNN) for road surface conditions and types classification using LiDAR. It is known that LiDAR provides information on the reflectivity and number of point clouds…

We propose to use deep convolutional neural networks to address the problem of cross-view image geolocalization, in which the geolocation of a ground-level query image is estimated by matching to georeferenced aerial images. We use…

In this work, we present LocGAN, our localization approach based on a geo-referenced aerial imagery and LiDAR grid maps. Currently, most self-localization approaches relate the current sensor observations to a map generated from previously…

Differentiable solvers for the linear assignment problem (LAP) have attracted much research attention in recent years, which are usually embedded into learning frameworks as components. However, previous algorithms, with or without learning…

Automotive radar has increasingly attracted attention due to growing interest in autonomous driving technologies. Acquiring situational awareness using multimodal data collected at high sampling rates by various sensing devices including…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

We learn, in an unsupervised way, an embedding from sequences of radar images that is suitable for solving place recognition problem using complex radar data. We experiment on 280 km of data and show performance exceeding state-of-the-art…

We present a Deep Learning based system for the twin tasks of localization and obstacle avoidance essential to any mobile robot. Our system learns from conventional geometric SLAM, and outputs, using a single camera, the topological pose of…

Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements…

Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purpose. However, this combination with their associated costs…

With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…

We propose a novel approach for instance-level image retrieval. It produces a global and compact fixed-length representation for each image by aggregating many region-wise descriptors. In contrast to previous works employing pre-trained…

LiDAR-based place recognition (LPR) plays a pivotal role in autonomous driving, which assists Simultaneous Localization and Mapping (SLAM) systems in reducing accumulated errors and achieving reliable localization. However, existing reviews…

In this paper, an automatic labelling process is presented for automotive datasets, leveraging on complementary information from LiDAR and camera. The generated labels are then used as ground truth with the corresponding 4D radar data as…

Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…

Global localization plays a critical role in many robot applications. LiDAR-based global localization draws the community's focus with its robustness against illumination and seasonal changes. To further improve the localization under large…

Object detection using automotive radars has not been explored with deep learning models in comparison to the camera based approaches. This can be attributed to the lack of public radar datasets. In this paper, we collect a novel radar…

This paper addresses the land cover classification task for remote sensing images by deep self-taught learning. Our self-taught learning approach learns suitable feature representations of the input data using sparse representation and…

Human detection and tracking is an essential task for service robots, where the combined use of multiple sensors has potential advantages that are yet to be exploited. In this paper, we introduce a framework allowing a robot to learn a new…

We present a novel approach to geolocalising panoramic images on a 2-D cartographic map based on learning a low dimensional embedded space, which allows a comparison between an image captured at a location and local neighbourhoods of the…