相关论文: Object Scan Context: Object-centric Spatial Descri…

The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to…

We propose a new SLAM system that uses the semantic segmentation of objects and structures in the scene. Semantic information is relevant as it contains high level information which may make SLAM more accurate and robust. Our contribution…

Deep learning techniques for point cloud data have demonstrated great potentials in solving classical problems in 3D computer vision such as 3D object classification and segmentation. Several recent 3D object classification methods have…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

Efficient object level representation for monocular semantic simultaneous localization and mapping (SLAM) still lacks a widely accepted solution. In this paper, we propose the use of an efficient representation, based on structural points,…

We present ObjectMatch, a semantic and object-centric camera pose estimator for RGB-D SLAM pipelines. Modern camera pose estimators rely on direct correspondences of overlapping regions between frames; however, they cannot align camera…

In this paper, we address the problem of 3D object instance recognition and pose estimation of localized objects in cluttered environments using convolutional neural networks. Inspired by the descriptor learning approach of Wohlhart et al.,…

LiDAR place recognition is a critical capability for autonomous navigation and cross-modal localization in large-scale outdoor environments. Existing approaches predominantly depend on pre-built 3D dense maps or aerial imagery, which impose…

Lidar based 3D object detection is inevitable for autonomous driving, because it directly links to environmental understanding and therefore builds the base for prediction and motion planning. The capacity of inferencing highly sparse 3D…

We often encounter limited FOV situations due to various factors such as sensor fusion or sensor mount in real-world robot navigation. However, the limited FOV interrupts the generation of descriptions and impacts place recognition…

Autonomous robots operating in real-world environments encounter a variety of objects that can be both rigid and articulated in nature. Having knowledge of these specific object properties not only helps in designing appropriate…

Compared with the visual grounding on 2D images, the natural-language-guided 3D object localization on point clouds is more challenging. In this paper, we propose a new model, named InstanceRefer, to achieve a superior 3D visual grounding…

In this paper, we propose an advanced methodology for the detection of 3D objects and precise estimation of their spatial positions from a single image. Unlike conventional frameworks that rely solely on center-point and dimension…

Map-centric SLAM is emerging as an alternative of conventional graph-based SLAM for its accuracy and efficiency in long-term mapping problems. However, in map-centric SLAM, the process of loop closure differs from that of conventional SLAM…

In this paper, we propose a graph neural network to detect objects from a LiDAR point cloud. Towards this end, we encode the point cloud efficiently in a fixed radius near-neighbors graph. We design a graph neural network, named Point-GNN,…

3D single object tracking with point clouds is a critical task in 3D computer vision. Previous methods usually input the last two frames and use the predicted box to get the template point cloud in previous frame and the search area point…

In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…

In this paper, we present a monocular Simultaneous Localization and Mapping (SLAM) algorithm using high-level object and plane landmarks. The built map is denser, more compact and semantic meaningful compared to feature point based SLAM. We…

Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…

The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential…