相关论文: Self-supervised Vector-Quantization in Visual SLAM…
The cost-efficiency of visual(-inertial) SLAM (VSLAM) is a critical characteristic of resource-limited applications. While hardware and algorithm advances have been significantly improved the cost-efficiency of VSLAM front-ends, the…
We introduce a method combining variational autoencoders (VAEs) and deep metric learning to perform Bayesian optimisation (BO) over high-dimensional and structured input spaces. By adapting ideas from deep metric learning, we use label…
Graph representation learning is a fundamental research issue in various domains of applications, of which the inductive learning problem is particularly challenging as it requires models to generalize to unseen graph structures during…
Deep neural networks achieve impressive performance but remain difficult to interpret and control. We present SALVE (Sparse Autoencoder-Latent Vector Editing), a unified "discover, validate, and control" framework that bridges mechanistic…
Current techniques in Visual Simultaneous Localization and Mapping (VSLAM) estimate camera displacement by comparing image features of consecutive scenes. These algorithms depend on scene continuity, hence requires frequent camera inputs.…
Simultaneous Localization and Mapping (SLAM) plays a crucial role in enabling autonomous vehicles to navigate previously unknown environments. Semantic SLAM mostly extends visual SLAM, leveraging the higher density information available to…
The paper presents a vision-based obstacle avoidance strategy for lightweight self-driving cars that can be run on a CPU-only device using a single RGB-D camera. The method consists of two steps: visual perception and path planning. The…
Recent years have seen remarkable progress in speech emotion recognition (SER), thanks to advances in deep learning techniques. However, the limited availability of labeled data remains a significant challenge in the field. Self-supervised…
Most real-time autonomous robot applications require a robot to traverse through a dynamic space for a long time. In some cases, a robot needs to work in the same environment. Such applications give rise to the problem of a life-long SLAM…
Although deep learning are commonly employed for image recognition, usually huge amount of labeled training data is required, which may not always be readily available. This leads to a noticeable performance disparity when compared to…
The recent success of hybrid methods in monocular odometry has led to many attempts to generalize the performance gains to hybrid monocular SLAM. However, most attempts fall short in several respects, with the most prominent issue being the…
In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection,…
The RGB-D camera maintains a limited range for working and is hard to accurately measure the depth information in a far distance. Besides, the RGB-D camera will easily be influenced by strong lighting and other external factors, which will…
Neural implicit representations have recently shown promising progress in dense Simultaneous Localization And Mapping (SLAM). However, existing works have shortcomings in terms of reconstruction quality and real-time performance, mainly due…
We present an autonomous aerial surveillance platform, Veg, designed as a fault-tolerant quadcopter system that integrates visual SLAM for GPS-independent navigation, advanced control architecture for dynamic stability, and embedded vision…
Semantic segmentation is an important technique for environment perception in intelligent transportation systems. With the rapid development of convolutional neural networks (CNNs), road scene analysis can usually achieve satisfactory…
Recent research on Simultaneous Localization and Mapping (SLAM) based on implicit representation has shown promising results in indoor environments. However, there are still some challenges: the limited scene representation capability of…
Simultaneous Localization and Mapping (SLAM) has become a critical technology for intelligent transportation systems and autonomous robots and is widely used in autonomous driving. However, traditional manual feature-based methods in…
Segmentation models in automated optical inspection of wire-bonded semiconductors are typically device-specific and must be re-trained when new devices or distribution shifts appear. We introduce AOI-SSL, a training-efficient framework for…
The traditional visual-inertial SLAM system often struggles with stability under low-light or motion-blur conditions, leading to potential lost of trajectory tracking. High accuracy and robustness are essential for the long-term and stable…