相关论文: Semi-Local Convolutions for LiDAR Scan Processing

Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…

This paper proposes a novel deep subspace clustering approach which uses convolutional autoencoders to transform input images into new representations lying on a union of linear subspaces. The first contribution of our work is to insert…

The neighborhood effect is a key driving factor for the land-use change (LUC) process. This study applies convolutional neural networks (CNN) to capture neighborhood characteristics from satellite images and to enhance the performance of…

In this paper, we present a centralized framework for multi-session LiDAR mapping in urban environments, by utilizing lightweight line and plane map representations instead of widely used point clouds. The proposed framework achieves…

The evolution of images with physics-based dynamics is often spatially localized and nonlinear. A switching linear dynamic system (SLDS) is a natural model under which to pose such problems when the system's evolution randomly switches over…

We introduce an approach to integrate segmentation information within a convolutional neural network (CNN). This counter-acts the tendency of CNNs to smooth information across regions and increases their spatial precision. To obtain…

This paper presents an approach for applying camera perception techniques to spinning LiDAR data. To improve the robustness of long-term change detection from a 3D LiDAR, range and intensity information are rendered into virtual…

LiDAR sensor is essential to the perception system in autonomous vehicles and intelligent robots. To fulfill the real-time requirements in real-world applications, it is necessary to efficiently segment the LiDAR scans. Most of previous…

Weakly supervised object localization is a challenging task in which the object of interest should be localized while learning its appearance. State-of-the-art methods recycle the architecture of a standard CNN by using the activation maps…

Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…

We introduce a saliency-based distortion layer for convolutional neural networks that helps to improve the spatial sampling of input data for a given task. Our differentiable layer can be added as a preprocessing block to existing task…

This paper presents a novel method for ground segmentation in Velodyne point clouds. We propose an encoding of sparse 3D data from the Velodyne sensor suitable for training a convolutional neural network (CNN). This general purpose approach…

Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…

Dense prediction tasks typically employ encoder-decoder architectures, but the prevalent convolutions in the decoder are not image-adaptive and can lead to boundary artifacts. Different generalized convolution operations have been…

Convolutional network techniques have recently achieved great success in vision based detection tasks. This paper introduces the recent development of our research on transplanting the fully convolutional network technique to the detection…

LiDAR place recognition is a crucial module in localization that matches the current location with previously observed environments. Most existing approaches in LiDAR place recognition dominantly focus on the spinning type LiDAR to exploit…

Background and Purpose: Convolutional neural network is widely used for image recognition in the medical area at nowadays. However, overall accuracy in predicting lung tumor is low and the processing time is high as the error occurred while…

Transformers are very effective in capturing both global and local correlations within high-energy particle collisions, but they present deployment challenges in high-data-throughput environments, such as the CERN LHC. The quadratic…

Lidar became an important component of the perception systems in autonomous driving. But challenges of training data acquisition and annotation made emphasized the role of the sensor to sensor domain adaptation. In this work, we address the…

One-dimensional convolution is a widely used deep learning technique in prestack amplitude variation with offset (AVO) inversion; however, it lacks lateral continuity. Although two-dimensional convolution improves lateral continuity, due to…