相关论文: Self-supervised Vector-Quantization in Visual SLAM…

In Simultaneous Localization and Mapping (SLAM), Loop Closure Detection (LCD) is essential to minimize drift when recognizing previously visited places. Visual Bag-of-Words (vBoW) has been an LCD algorithm of choice for many…

Quantum entanglement lies at the heart in quantum information processing tasks. Although many criteria have been proposed, efficient and scalable methods to detect the entanglement of generally given quantum states are still not available…

Speech quality estimation has recently undergone a paradigm shift from human-hearing expert designs to machine-learning models. However, current models rely mainly on supervised learning, which is time-consuming and expensive for label…

Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms…

We propose a novel visual SLAM method that integrates text objects tightly by treating them as semantic features via fully exploring their geometric and semantic prior. The text object is modeled as a texture-rich planar patch whose…

Loop closure is critical in Simultaneous Localization and Mapping (SLAM) systems to reduce accumulative drift and ensure global mapping consistency. However, conventional methods struggle in perceptually aliased environments, such as narrow…

This paper introduces BEV-VLM, a novel approach for trajectory planning in autonomous driving that leverages Vision-Language Models (VLMs) with Bird's-Eye View (BEV) feature maps as visual input. Unlike conventional trajectory planning…

With the advancement in robotics, it is becoming increasingly common for large factories and warehouses to incorporate visual SLAM (vSLAM) enabled automated robots that operate closely next to humans. This makes any adversarial attacks on…

Zero-shot skeleton-based action recognition aims to develop models capable of identifying actions beyond the categories encountered during training. Previous approaches have primarily focused on aligning visual and semantic representations…

Existing end-to-end autonomous driving models rely heavily on purely data-driven inductive reasoning. This "black-box" nature leads to a lack of interpretability and absolute safety guarantees in complex, long-tail scenarios. To overcome…

Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…

This paper presents an Open-Vocabulary Online 3D semantic mapping pipeline, that we denote by its acronym OVO. Given a sequence of posed RGB-D frames, we detect and track 3D segments, which we describe using CLIP vectors. These are computed…

Simultaneous Localization and Mapping (SLAM) is essential for mobile robotics, enabling autonomous navigation in dynamic, unstructured outdoor environments without relying on external positioning systems. These environments pose significant…

We present a real-time feature-based SLAM (Simultaneous Localization and Mapping) system for fisheye cameras featured by a large field-of-view (FoV). Large FoV cameras are beneficial for large-scale outdoor SLAM applications, because they…

Visual simultaneous localization and mapping (vSLAM) and 3D reconstruction methods have gone through impressive progress. These methods are very promising for autonomous vehicle and consumer robot applications because they can map…

In this paper, we address the problem of using visuo-tactile feedback for 6-DoF localization and 3D reconstruction of unknown in-hand objects. We propose FingerSLAM, a closed-loop factor graph-based pose estimator that combines local…

The success of deep learning in computer vision is rooted in the ability of deep networks to scale up model complexity as demanded by challenging visual tasks. As complexity is increased, so is the need for large amounts of labeled data to…

Open-Vocabulary Segmentation (OVS) methods are capable of performing semantic segmentation without relying on a fixed vocabulary, and in some cases, without training or fine-tuning. However, OVS methods typically require a human in the loop…

This paper introduces VolMap, a real-time approach for the semantic segmentation of a 3D LiDAR surrounding view system in autonomous vehicles. We designed an optimized deep convolution neural network that can accurately segment the point…

Auto-encoding Variational Bayes (AEVB) is a powerful and general algorithm for fitting latent variable models (a promising direction for unsupervised learning), and is well-known for training the Variational Auto-Encoder (VAE). In this…