相关论文: Circular Accessible Depth: A Robust Traversability…

Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based…

Deep neural networks have been widely used in medical image analysis and medical image segmentation is one of the most important tasks. U-shaped neural networks with encoder-decoder are prevailing and have succeeded greatly in various…

A high-gain observer-based cooperative deterministic learning (CDL) control algorithm is proposed in this chapter for a group of identical unicycle-type unmanned ground vehicles (UGVs) to track over desired reference trajectories. For the…

Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…

Depth prediction is a critical problem in robotics applications especially autonomous driving. Generally, depth prediction based on binocular stereo matching and fusion of monocular image and laser point cloud are two mainstream methods.…

Point cloud analysis is an area of increasing interest due to the development of 3D sensors that are able to rapidly measure the depth of scenes accurately. Unfortunately, applying deep learning techniques to perform point cloud analysis is…

Accurate vessel segmentation is essential for medical image analysis, yet remains challenging due to complex vascular patterns and imaging ambiguity. Most deep models rely on single-pass prediction, limiting their ability to refine…

Deep convolutional neural networks (CNNs) have delivered superior performance in many computer vision tasks. In this paper, we propose a novel deep fully convolutional network model for accurate salient object detection. The key…

With the rise of deep neural networks, especially in safety-critical applications, robustness and interpretability are crucial to ensure their trustworthiness. Recent advances in 3D-aware classifiers that map image features to volumetric…

Learning a latent embedding to understand the underlying nature of data distribution is often formulated in Euclidean spaces with zero curvature. However, the success of the geometry constraints, posed in the embedding space, indicates that…

The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…

In view of the problems that existing salient object detection (SOD) methods are prone to losing details, blurring edges, and insufficient fusion of single-modal information in complex scenes, this paper proposes a dynamic uncertainty…

Accurate classification of computed tomography (CT) images is essential for diagnosis and treatment planning, but existing methods often struggle with the subtle and spatially diverse nature of pathological features. Current approaches…

Autonomous navigation in unstructured environments requires robots to assess terrain difficulty in real-time and plan paths that balance efficiency with safety. This thesis presents a traversability-aware navigation framework for the M4…

Unmanned aerial vehicles (UAVs) are widely used for object detection. However, the existing UAV-based object detection systems are subject to severe challenges, namely, their limited computation, energy and communication resources, which…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

A robotic system of multiple unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) has the potential for advancing autonomous object geolocation performance. Much research has focused on algorithmic improvements on individual…

Autonomous vehicles deployed in remote environments typically rely on embedded processors, compact batteries, and lightweight sensors. These hardware limitations conflict with the need to derive robust representations of the environment,…

Airborne light detection and ranging (LiDAR) plays an increasingly significant role in urban planning, topographic mapping, environmental monitoring, power line detection and other fields thanks to its capability to quickly acquire…

Transparency of neural networks' internal reasoning is at the heart of interpretability research, adding to trust, safety, and understanding of these models. The field of mechanistic interpretability has recently focused on studying…