相关论文: WGICP: Differentiable Weighted GICP-Based Lidar Od…

In air-ground collaboration scenarios without GPS and prior maps, the relative positioning of drones and unmanned ground vehicles (UGVs) has always been a challenge. For a drone equipped with monocular camera and an UGV equipped with LiDAR…

The accurate and robust calibration result of sensors is considered as an important building block to the follow-up research in the autonomous driving and robotics domain. The current works involving extrinsic calibration between 3D LiDARs…

This paper is concerned with the optimal identification problem of dynamical systems in which only quantized output observations are available under the assumption of fixed thresholds and bounded persistent excitations. Based on a…

Various deep learning techniques have been proposed to solve the single-view 2D-to-3D pose estimation problem. While the average prediction accuracy has been improved significantly over the years, the performance on hard poses with depth…

Existing normal estimation methods for point clouds are often less robust to severe noise and complex geometric structures. Also, they usually ignore the contributions of different neighbouring points during normal estimation, which leads…

In this paper, we propose the USIP detector: an Unsupervised Stable Interest Point detector that can detect highly repeatable and accurately localized keypoints from 3D point clouds under arbitrary transformations without the need for any…

Most autonomous vehicles rely on accurate and efficient localization, which is achieved by comparing live sensor data to a preexisting map, to navigate their environment. Balancing the accuracy of localization with computational efficiency…

We present a novel method to fuse the power of deep networks with the computational efficiency of geometric and probabilistic localization algorithms. In contrast to other methods that completely replace a classical visual estimator with a…

Current LiDAR odometry, mapping and localization methods leverage point-wise representations of 3D scenes and achieve high accuracy in autonomous driving tasks. However, the space-inefficiency of methods that use point-wise representations…

We present an end-to-end algorithm for training deep neural networks to grasp novel objects. Our algorithm builds all the essential components of a grasping system using a forward-backward automatic differentiation approach, including the…

In person re-identification (ReID) tasks, many works explore the learning of part features to improve the performance over global image features. Existing methods explicitly extract part features by either using a hand-designed image…

In multimodal perception systems, achieving precise extrinsic calibration between LiDAR and camera is of critical importance. Previous calibration methods often required specific targets or manual adjustments, making them both…

LIDAR is one of the most important sensors for Unmanned Ground Vehicles (UGV). Object detection and classification based on lidar point cloud is a key technology for UGV. In object detection and classification, the mutual occlusion between…

Differentially private stochastic gradient descent (DP-SGD) is the most widely used method for training machine learning models with provable privacy guarantees. A key challenge in DP-SGD is setting the per-sample gradient clipping…

We present GNC-Pose, a fully learning-free monocular 6D object pose estimation pipeline for textured objects that combines rendering-based initialization, geometry-aware correspondence weighting, and robust GNC optimization. Starting from…

Particle identification (PID) is essential for future particle physics experiments such as the Circular Electron-Positron Collider and the Future Circular Collider. A high-granularity Time Projection Chamber (TPC) not only provides precise…

We aim to solve the problem of data-driven collision-distance estimation given 3-dimensional (3D) geometries. Conventional algorithms suffer from low accuracy due to their reliance on limited representations, such as point clouds. In…

In this paper, we unify popular non-rigid registration methods for point sets and surfaces under our general framework, GiNGR. GiNGR builds upon Gaussian Process Morphable Models (GPMM) and hence separates modeling the deformation prior…

Distribution-to-Distribution (D2D) point cloud registration algorithms are fast, interpretable, and perform well in unstructured environments. Unfortunately, existing strategies for predicting solution error for these methods are overly…

This paper presents a robust and efficient semi-dense visual odometry solution for RGB-D cameras. The core of our method is a 2D-3D ICP pipeline which estimates the pose of the sensor by registering the projection of a 3D semi-dense map of…