相关论文: HiTPR: Hierarchical Transformer for Place Recognit…

Research in point cloud analysis with deep neural networks has made rapid progress in recent years. The pioneering work PointNet offered a direct analysis of point clouds. However, due to its architecture PointNet is not able to capture…

Visual Place Recognition (VPR) is a crucial part of mobile robotics and autonomous driving as well as other computer vision tasks. It refers to the process of identifying a place depicted in a query image using only computer vision. At…

Processing 3D data efficiently has always been a challenge. Spatial operations on large-scale point clouds, stored as sparse data, require extra cost. Attracted by the success of transformers, researchers are using multi-head attention for…

This paper presents a novel Transformer-based facial landmark localization network named Localization Transformer (LOTR). The proposed framework is a direct coordinate regression approach leveraging a Transformer network to better utilize…

Representing urban regions accurately and comprehensively is essential for various urban planning and analysis tasks. Recently, with the expansion of the city, modeling long-range spatial dependencies with multiple data sources plays an…

As an essential component of visual simultaneous localization and mapping (SLAM), place recognition is crucial for robot navigation and autonomous driving. Existing methods often formulate visual place recognition as feature matching, which…

There are various automotive applications that rely on correctly interpreting point cloud data recorded with radar sensors. We present a deep learning approach for histogram-based processing of such point clouds. Compared to existing…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

Place recognition is a cornerstone of vehicle navigation and mapping, which is pivotal in enabling systems to determine whether a location has been previously visited. This capability is critical for tasks such as loop closure in…

Place recognition is one of the hot research fields in automation technology and is still an open issue, Camera and Lidar are two mainstream sensors used in this task, Camera-based methods are easily affected by illumination and season…

Loop-closure detection, also known as place recognition, aiming to identify previously visited locations, is an essential component of a SLAM system. Existing research on lidar-based loop closure heavily relies on dense point cloud and 360…

Point Cloud Registration (PCR) estimates the relative rigid transformation between two point clouds of the same scene. Despite significant progress with learning-based approaches, existing methods still face challenges when the overlapping…

3D object detection is an essential vision technique for various robotic systems, such as augmented reality and domestic robots. Transformers as versatile network architectures have recently seen great success in 3D point cloud object…

Visual Place Recognition (VPR) localizes a query image by matching it against a database of geo-tagged reference images, making it essential for navigation and mapping in robotics. Although Vision Transformer (ViT) solutions deliver high…

In the realm of robotics, the quest for achieving real-world autonomy, capable of executing large-scale and long-term operations, has positioned place recognition (PR) as a cornerstone technology. Despite the PR community's remarkable…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

3D LiDAR-based place recognition remains largely underexplored in horticultural environments, which present unique challenges due to their semi-permeable nature to laser beams. This characteristic often results in highly similar LiDAR scans…

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…

Semantic segmentation of point clouds is an essential task for understanding the environment in autonomous driving and robotics. Recent range-based works achieve real-time efficiency, while point- and voxel-based methods produce better…

Deep learning on the point cloud is increasingly developing. Grouping the point with its neighbors and conducting convolution-like operation on them can learn the local feature of the point cloud, but this method is weak to extract the…