相关论文: DeepMapping2: Self-Supervised Large-Scale LiDAR Ma…

This report presents design considerations for automatically generating satellite imagery datasets for training machine learning models with emphasis placed on dense classification tasks, e.g. semantic segmentation. The implementation…

Moving object segmentation is a crucial task for safe and reliable autonomous mobile systems like self-driving cars, improving the reliability and robustness of subsequent tasks like SLAM or path planning. While the segmentation of camera…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Distributed training in deep learning (DL) is common practice as data and models grow. The current practice for distributed training of deep neural networks faces the challenges of communication bottlenecks when operating at scale, and…

Despite the success of deep functional maps in non-rigid 3D shape matching, there exists no learning framework that models both self-symmetry and shape matching simultaneously. This is despite the fact that errors due to symmetry mismatch…

Vision-based localization for autonomous driving has been of great interest among researchers. When a pre-built 3D map is not available, the techniques of visual simultaneous localization and mapping (SLAM) are typically adopted. Due to…

3D shape matching is a long-standing problem in computer vision and computer graphics. While deep neural networks were shown to lead to state-of-the-art results in shape matching, existing learning-based approaches are limited in the…

Deep learning models such as convolutional neural networks and transformers have been widely applied to solve 3D object detection problems in the domain of autonomous driving. While existing models have achieved outstanding performance on…

LiDAR sensors are a key modality for 3D perception, yet they are typically designed independently of downstream tasks such as point cloud registration. Conventional registration operates on pre-acquired datasets with fixed LiDAR…

Digital maps will revolutionize our experience of perceiving and navigating indoor environments. While today we rely only on the representation of the outdoors, the mapping of indoors is mainly a part of the traditional SLAM problem where…

In this paper, we present INertial Lidar Localisation Autocalibration And MApping (IN2LAAMA): an offline probabilistic framework for localisation, mapping, and extrinsic calibration based on a 3D-lidar and a 6-DoF-IMU. Most of today's…

We study an important, yet largely unexplored problem of large-scale cross-modal visual localization by matching ground RGB images to a geo-referenced aerial LIDAR 3D point cloud (rendered as depth images). Prior works were demonstrated on…

Autonomous navigation of a mobile robot is a challenging task which requires ability of mapping, localization, path planning and path following. Conventional mapping methods build a dense metric map like an occupancy grid, which is affected…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

High resolution depth-maps, obtained by upsampling sparse range data from a 3D-LIDAR, find applications in many fields ranging from sensory perception to semantic segmentation and object detection. Upsampling is often based on combining…

Deep learning have achieved promising results on a wide spectrum of AI applications. Larger datasets and models consistently yield better performance. However, we generally spend longer training time on more computation and communication.…

Recently, learning-based ego-motion estimation approaches have drawn strong interest from studies mostly focusing on visual perception. These groundbreaking works focus on unsupervised learning for odometry estimation but mostly for visual…

High-resolution LiDAR data plays a critical role in 3D semantic segmentation for autonomous driving, but the high cost of advanced sensors limits large-scale deployment. In contrast, low-cost sensors such as 16-channel LiDAR produce sparse…

Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…

Accurate mapping of large-scale environments is an essential building block of most outdoor autonomous systems. Challenges of traditional mapping methods include the balance between memory consumption and mapping accuracy. This paper…