相关论文: LoRCoN-LO: Long-term Recurrent Convolutional Netwo…

Deep neural networks (DNNs) that incorporated lifelong sequential modeling (LSM) have brought great success to recommendation systems in various social media platforms. While continuous improvements have been made in domain-specific LSM,…

Identifying line-of-sight (LOS) and non-LOS (NLOS) channel conditions can improve the performance of many wireless applications, such as signal strength-based localization algorithms. For this purpose, channel state information (CSI)…

Autonomous robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complementary sensors. IMU data constrains acceleration and rotation,…

Benefiting from the great success of deep learning in computer vision, CNN-based object detection methods have drawn significant attentions. Various frameworks have been proposed which show awesome and robust performance for a large range…

We investigate the prospect of reconstructing the ''cosmic distance ladder'' of the Universe using a novel deep learning framework called LADDER - Learning Algorithm for Deep Distance Estimation and Reconstruction. LADDER is trained on the…

Place recognition is a fundamental task for robotic application, allowing robots to perform loop closure detection within simultaneous localization and mapping (SLAM), and achieve relocalization on prior maps. Current range image-based…

This work proposes a novel deep network architecture to solve the camera Ego-Motion estimation problem. A motion estimation network generally learns features similar to Optical Flow (OF) fields starting from sequences of images. This OF can…

Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in visual odometry is…

This paper introduces Graph Convolutional Recurrent Network (GCRN), a deep learning model able to predict structured sequences of data. Precisely, GCRN is a generalization of classical recurrent neural networks (RNN) to data structured by…

We present Higher-Order Tensor RNN (HOT-RNN), a novel family of neural sequence architectures for multivariate forecasting in environments with nonlinear dynamics. Long-term forecasting in such systems is highly challenging, since there…

Localization is an indispensable component of a robot's autonomy stack that enables it to determine where it is in the environment, essentially making it a precursor for any action execution or planning. Although convolutional neural…

Odometry estimation is crucial for every autonomous system requiring navigation in an unknown environment. In modern mobile robots, 3D LiDAR-inertial systems are often used for this task. By fusing LiDAR scans and IMU measurements, these…

Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects.…

To collectively forecast the demand for ride-sourcing services in all regions of a city, the deep learning approaches have been applied with commendable results. However, the local statistical differences throughout the geographical layout…

Nowadays, service robots are appearing more and more in our daily life. For this type of robot, open-ended object category learning and recognition is necessary since no matter how extensive the training data used for batch learning, the…

Classical monocular vSLAM/VO methods suffer from the scale ambiguity problem. Hybrid approaches solve this problem by adding deep learning methods, for example by using depth maps which are predicted by a CNN. We suggest that it is better…

We introduce a deep residual recurrent neural network (DR-RNN) as an efficient model reduction technique for nonlinear dynamical systems. The developed DR-RNN is inspired by the iterative steps of line search methods in finding the residual…

Light detection and ranging (LiDAR) has been utilized for optimizing wireless communications due to its ability to detect the environment. This paper explores the use of LiDAR in channel estimation for wideband multi-user…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

This paper presents a new approach for 6DoF Direct LiDAR-Inertial Odometry (D-LIO) based on the simultaneous mapping of truncated distance fields on CPU. Such continuous representation (in the vicinity of the points) enables working with…