相关论文: TransFusionOdom: Interpretable Transformer-based L…

In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…

Multimodal fusion is considered a key step in multimodal tasks such as sentiment analysis, emotion detection, question answering, and others. Most of the recent work on multimodal fusion does not guarantee the fidelity of the multimodal…

This paper presents a novel multi-modal Multi-Object Tracking (MOT) algorithm for self-driving cars that combines camera and LiDAR data. Camera frames are processed with a state-of-the-art 3D object detector, whereas classical clustering…

Multimodal emotion recognition (MMER) systems typically outperform unimodal systems by leveraging the inter- and intra-modal relationships between, e.g., visual, textual, physiological, and auditory modalities. This paper proposes an MMER…

This paper introduces a new multi-modal model based on the Transformer architecture and tensor product fusion strategy, combining BERT's text vectors and ViT's image vectors to classify students' psychological conditions, with an accuracy…

This research presents a novel multimodal data fusion methodology for pain behavior recognition, integrating statistical correlation analysis with human-centered insights. Our approach introduces two key innovations: 1) integrating…

This paper extends LiDAR-BIND, a modular multi-modal fusion framework that binds heterogeneous sensors (radar, sonar) to a LiDAR-defined latent space, with mechanisms that explicitly enforce temporal consistency. We introduce three…

Map construction task plays a vital role in providing precise and comprehensive static environmental information essential for autonomous driving systems. Primary sensors include cameras and LiDAR, with configurations varying between…

With advanced imaging, sequencing, and profiling technologies, multiple omics data become increasingly available and hold promises for many healthcare applications such as cancer diagnosis and treatment. Multimodal learning for integrative…

Precise, seamless, and efficient train localization as well as long-term railway environment monitoring is the essential property towards reliability, availability, maintainability, and safety (RAMS) engineering for railroad systems.…

Action recognition from multi-modal and multi-view observations holds significant potential for applications in surveillance, robotics, and smart environments. However, existing methods often fall short of addressing real-world challenges…

In autonomous driving, transparency in the decision-making of perception models is critical, as even a single misperception can be catastrophic. Yet with multi-sensor inputs, it is difficult to determine how each modality contributes to a…

We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sensors within a moving horizon estimator. ConFusion offers…

In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed an online learning-based leg kinematics model named the…

This letter introduces two multi-sensor state estimation frameworks for quadruped robots, built on the Invariant Extended Kalman Filter (InEKF) and Invariant Smoother (IS). The proposed methods, named E-InEKF and E-IS, fuse kinematics, IMU,…

Effectively localizing an agent in a realistic, noisy setting is crucial for many embodied vision tasks. Visual Odometry (VO) is a practical substitute for unreliable GPS and compass sensors, especially in indoor environments. While…

The recent trend in multiple object tracking (MOT) is heading towards leveraging deep learning to boost the tracking performance. In this paper, we propose a novel solution named TransSTAM, which leverages Transformer to effectively model…

Autonomous racing has rapidly gained research attention. Traditionally, racing cars rely on 2D LiDAR as their primary visual system. In this work, we explore the integration of an event camera with the existing system to provide enhanced…

Effectively utilizing multi-sensory data is important for robots to generalize across diverse tasks. However, the heterogeneous nature of these modalities makes fusion challenging. Existing methods propose strategies to obtain…

Fusing multi-modal data can improve the performance of deep learning models. However, missing modalities are common for medical data due to patients' specificity, which is detrimental to the performance of multi-modal models in…