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

Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…

The ability to perform computation on devices, such as smartphones, cars, or other nodes present at the Internet of Things leads to constraints regarding bandwidth, storage, and energy, as most of these devices are mobile and operate on…

Point cloud prediction is an important yet challenging task in the field of autonomous driving. The goal is to predict future point cloud sequences that maintain object structures while accurately representing their temporal motion. These…

There is an increasing need of continual learning in dynamic systems, such as the self-driving vehicle, the surveillance drone, and the robotic system. Such a system requires learning from the data stream, training the model to preserve…

Modeling object dynamics with a neural network is an important problem with numerous applications. Most recent work has been based on graph neural networks. However, physics happens in 3D space, where geometric information potentially plays…

For driving assistance and autonomous driving systems, it is important to differentiate between dynamic objects such as moving vehicles and static objects such as guard rails. Among all the sensor modalities, RADAR and FMCW LiDAR can…

Recognition of occluded objects in unseen indoor environments is a challenging problem for mobile robots. This work proposes a new slicing-based topological descriptor that captures the 3D shape of object point clouds to address this…

In the realm of point cloud scene understanding, particularly in indoor scenes, objects are arranged following human habits, resulting in objects of certain semantics being closely positioned and displaying notable inter-object…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

While current 3D object recognition research mostly focuses on the real-time, onboard scenario, there are many offboard use cases of perception that are largely under-explored, such as using machines to automatically generate high-quality…

Video-based 3D human pose and shape estimations are evaluated by intra-frame accuracy and inter-frame smoothness. Although these two metrics are responsible for different ranges of temporal consistency, existing state-of-the-art methods…

To advance the field of autonomous robotics, particularly in object search tasks within unexplored environments, we introduce a novel framework centered around the Probable Object Location (POLo) score. Utilizing a 3D object probability…

This work proposes a new end-to-end DCNN based approach for motion segmentation, especially for video sequences captured with such non-static cameras, called MOSNET. While other approaches focus on spatial or temporal context only, the…

In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…

The large-scale deployment of autonomous vehicles is yet to come, and one of the major remaining challenges lies in urban dense traffic scenarios. In such cases, it remains challenging to predict the future evolution of the scene and future…

We tackle the long-term prediction of scene evolution in a complex downtown scenario for automated driving based on Lidar grid fusion and recurrent neural networks (RNNs). A bird's eye view of the scene, including occupancy and velocity, is…

Existing intelligent driving technology often has a problem in balancing smooth driving and fast obstacle avoidance, especially when the vehicle is in a non-structural environment, and is prone to instability in emergency situations.…

Real-time planning under uncertainty is critical for robots operating in complex dynamic environments. Consider, for example, an autonomous robot vehicle driving in dense, unregulated urban traffic of cars, motorcycles, buses, etc. The…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…