相关论文: BEVPlace: Learning LiDAR-based Place Recognition u…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Accurate LiDAR-camera calibration is fundamental to fusing multi-modal perception in autonomous driving and robotic systems. Traditional calibration methods require extensive data collection in controlled environments and cannot compensate…

Place recognition is essential for achieving closed-loop or global positioning in autonomous vehicles and mobile robots. Despite recent advancements in place recognition using 2D cameras or 3D LiDAR, it remains to be seen how to use 4D…

Place recognition is a challenging but crucial task in robotics. Current description-based methods may be limited by representation capabilities, while pairwise similarity-based methods require exhaustive searches, which is time-consuming.…

Cross-view image matching for geo-localisation is a challenging problem due to the significant visual difference between aerial and ground-level viewpoints. The method provides localisation capabilities from geo-referenced images,…

Efficient relocalization is essential for intelligent vehicles when GPS reception is insufficient or sensor-based localization fails. Recent advances in Bird's-Eye-View (BEV) segmentation allow for accurate estimation of local scene…

Visual bird's eye view (BEV) perception, due to its excellent perceptual capabilities, is progressively replacing costly LiDAR-based perception systems, especially in the realm of urban intelligent driving. However, this type of perception…

Spatial understanding of the semantics of the surroundings is a key capability needed by autonomous cars to enable safe driving decisions. Recently, purely vision-based solutions have gained increasing research interest. In particular,…

Learning powerful representations in bird's-eye-view (BEV) for perception tasks is trending and drawing extensive attention both from industry and academia. Conventional approaches for most autonomous driving algorithms perform detection,…

Localization in GNSS-denied and GNSS-degraded environments is a challenge for the safe widespread deployment of autonomous vehicles. Such GNSS-challenged environments require alternative methods for robust localization. In this work, we…

Place recognition is an important task within autonomous navigation, involving the re-identification of previously visited locations from an initial traverse. Unlike visual place recognition (VPR), LiDAR place recognition (LPR) is tolerant…

Place recognition, an algorithm to recognize the re-visited places, plays the role of back-end optimization trigger in a full SLAM system. Many works equipped with deep learning tools, such as MLP, CNN, and transformer, have achieved great…

LiDAR-based localization approach is a fundamental module for large-scale navigation tasks, such as last-mile delivery and autonomous driving, and localization robustness highly relies on viewpoints and 3D feature extraction. Our previous…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

Bird's eye view (BEV) is widely adopted by most of the current point cloud detectors due to the applicability of well-explored 2D detection techniques. However, existing methods obtain BEV features by simply collapsing voxel or point…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…

Place Recognition is a crucial capability for mobile robot localization and navigation. Image-based or Visual Place Recognition (VPR) is a challenging problem as scene appearance and camera viewpoint can change significantly when places are…

Accurate perception and scene understanding in complex urban environments is a critical challenge for ensuring safe and efficient autonomous navigation. In this paper, we present Co-Win, a novel bird's eye view (BEV) perception framework…

Existing approaches to drone visual geo-localization predominantly adopt the image-based setting, where a single drone-view snapshot is matched with images from other platforms. Such task formulation, however, underutilizes the inherent…

Beam prediction is critical for reducing beam-training overhead in millimeter-wave (mmWave) systems, especially in high-mobility vehicular scenarios. This paper presents a BEV-Fusion based framework that unifies camera, LiDAR, radar, and…