相关论文: LSGDDN-LCD: An Appearance-based Loop Closure Detec…

LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…

An accurate and computationally efficient SLAM algorithm is vital for modern autonomous vehicles. To make a lightweight the algorithm, most SLAM systems rely on feature detection from images for vision SLAM or point cloud for laser-based…

In this paper we present DOT (Dynamic Object Tracking), a front-end that added to existing SLAM systems can significantly improve their robustness and accuracy in highly dynamic environments. DOT combines instance segmentation and…

Visual inertial odometry and SLAM algorithms are widely used in various fields, such as service robots, drones, and autonomous vehicles. Most of the SLAM algorithms are based on assumption that landmarks are static. However, in the…

Novel Class Discovery aims to utilise prior knowledge of known classes to classify and discover unknown classes from unlabelled data. Existing NCD methods for images primarily rely on visual features, which suffer from limitations such as…

Enabling fully autonomous robots capable of navigating and exploring large-scale, unknown and complex environments has been at the core of robotics research for several decades. A key requirement in autonomous exploration is building…

Face anti-spoofing is critical to the security of face recognition systems. Depth supervised learning has been proven as one of the most effective methods for face anti-spoofing. Despite the great success, most previous works still…

Simultaneous Localization and Mapping (SLAM) is one of the most important environment-perception and navigation algorithms for computer vision, robotics, and autonomous cars/drones. Hence, high quality and fast mapping becomes a fundamental…

Line segment detection is a fundamental low-level task in computer vision, and improvements in this task can impact more advanced methods that depend on it. Most new methods developed for line segment detection are based on Convolutional…

Unaligned Scene Change Detection aims to detect scene changes between image pairs captured at different times without assuming viewpoint alignment. To handle viewpoint variations, current methods rely solely on 2D visual cues to establish…

Generalized Category Discovery (GCD) is a practical and challenging open-world task that aims to recognize both known and novel categories in unlabeled data using limited labeled data from known categories. Due to the lack of supervision,…

We propose an extension to the segment-based global localization method for LiDAR SLAM using descriptors learned considering the visual context of the segments. A new architecture of the deep neural network is presented that learns the…

In this paper, we present a factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. These facilities…

Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this…

Achieving truly practical dynamic 3D reconstruction requires online operation, global pose and map consistency, detailed appearance modeling, and the flexibility to handle both RGB and RGB-D inputs. However, existing SLAM methods typically…

The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal sensor fusion in modern SLAM. However, regardless of these advantages, its offline property caused by the requirement of…

In currently available literature, no tracking-by-detection (TBD) paradigm-based tracking method has considered the localization confidence of detection boxes. In most TBD-based methods, it is considered that objects of low detection…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…

Semantic information has been proved effective in scene text recognition. Most existing methods tend to couple both visual and semantic information in an attention-based decoder. As a result, the learning of semantic features is prone to…