相关论文: LTS-NET: End-to-end Unsupervised Learning of Long-…

Mobile robots need to create high-definition 3D maps of the environment for applications such as remote surveillance and infrastructure mapping. Accurate semantic processing of the acquired 3D point cloud is critical for allowing the robot…

For long-term autonomy, most place recognition methods are mainly evaluated on simplified scenarios or simulated datasets, which cannot provide solid evidence to evaluate the readiness for current Simultaneous Localization and Mapping…

Many applications in robotics and human-computer interaction can benefit from understanding 3D motion of points in a dynamic environment, widely noted as scene flow. While most previous methods focus on stereo and RGB-D images as input, few…

Recent advancements in deep-learning methods for object detection in point-cloud data have enabled numerous roadside applications, fostering improvements in transportation safety and management. However, the intricate nature of point-cloud…

Online object segmentation and tracking in Lidar point clouds enables autonomous agents to understand their surroundings and make safe decisions. Unfortunately, manual annotations for these tasks are prohibitively costly. We tackle this…

Decision trees and logistic regression are one of the most popular and well-known machine learning algorithms, frequently used to solve a variety of real-world problems. Stability of learning algorithms is a powerful tool to analyze their…

Learning to predict reliable characteristic orientations of 3D point clouds is an important yet challenging problem, as different point clouds of the same class may have largely varying appearances. In this work, we introduce a novel method…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Navigating in off-road environments for wheeled mobile robots is challenging due to dynamic and rugged terrain. Traditional physics-based stability metrics, such as Static Stability Margin (SSM) or Zero Moment Point (ZMP) require knowledge…

Over many decades, researchers working in object recognition have longed for an end-to-end automated system that will simply accept 2D or 3D image or videos as inputs and output the labels of objects in the input data. Computer vision…

Previous works for LiDAR-based 3D object detection mainly focus on the single-frame paradigm. In this paper, we propose to detect 3D objects by exploiting temporal information in multiple frames, i.e., the point cloud videos. We empirically…

Object Permanence allows people to reason about the location of non-visible objects, by understanding that they continue to exist even when not perceived directly. Object Permanence is critical for building a model of the world, since…

In this paper, we investigate a weakly-supervised object detection framework. Most existing frameworks focus on using static images to learn object detectors. However, these detectors often fail to generalize to videos because of the…

End-to-end Network has become increasingly important in multi-tasking. One prominent example of this is the growing significance of a driving perception system in autonomous driving. This paper systematically studies an end-to-end…

Current state-of-the-art deep learning systems for visual object recognition and detection use purely supervised training with regularization such as dropout to avoid overfitting. The performance depends critically on the amount of labeled…

We present a semi-supervised approach that localizes multiple unknown object instances in long videos. We start with a handful of labeled boxes and iteratively learn and label hundreds of thousands of object instances. We propose criteria…

Over the last decade, the development of deep image classification networks has mostly been driven by the search for the best performance in terms of classification accuracy on standardized benchmarks like ImageNet. More recently, this…

This work proposed a novel learning objective to train a deep neural network to perform end-to-end image pixel clustering. We applied the approach to instance segmentation, which is at the intersection of image semantic segmentation and…

Visual localization plays an important role for intelligent robots and autonomous driving, especially when the accuracy of GNSS is unreliable. Recently, camera localization in LiDAR maps has attracted more and more attention for its low…