相关论文: UniCal: a Single-Branch Transformer-Based Model fo…

Deep neural network(DNN) based classifiers do extremely well in discriminating between observations, resulting in higher ROC AUC and accuracy metrics, but their outputs are often miscalibrated with respect to true event likelihoods.…

Determining the extrinsic parameter between multiple LiDARs and cameras is essential for autonomous robots, especially for solid-state LiDARs, where each LiDAR unit has a very small Field-of-View (FoV), and multiple units are often used…

In autonomous systems, sensor calibration is essential for safe and efficient navigation in dynamic environments. Accurate calibration is a prerequisite for reliable perception and planning tasks such as object detection and obstacle…

Accurate LiDAR-camera calibration is crucial for multi-sensor systems. However, traditional methods often rely on physical targets, which are impractical for real-world deployment. Moreover, even carefully calibrated extrinsics can degrade…

Sensor fusion is vital for the safe and robust operation of autonomous vehicles. Accurate extrinsic sensor to sensor calibration is necessary to accurately fuse multiple sensor's data in a common spatial reference frame. In this paper, we…

We propose the Lightweight Multimodal Contrastive Attention Transformer (L-MCAT), a novel transformer-based framework for label-efficient remote sensing image classification using unpaired multimodal satellite data. L-MCAT introduces two…

We present a novel target-based lidar-camera extrinsic calibration methodology that can be used for non-overlapping field of view (FOV) sensors. Contrary to previous work, our methodology overcomes the non-overlapping FOV challenge using a…

Deep neural network (DNN) classifiers are often overconfident, producing miscalibrated class probabilities. In high-risk applications like healthcare, practitioners require $\textit{fully calibrated}$ probability predictions for…

The demand for multimodal sensing systems for robotics is growing due to the increase in robustness, reliability and accuracy offered by these systems. These systems also need to be spatially and temporally co-registered to be effective. In…

We introduce OneCAT, a unified multimodal model that seamlessly integrates understanding, generation, and editing within a novel, pure decoder-only transformer architecture. Our framework uniquely eliminates the need for external components…

We present AnyCalib, a method for calibrating the intrinsic parameters of a camera from a single in-the-wild image, that is agnostic to the camera model. Current methods are predominantly tailored to specific camera models and/or require…

We introduce LiDAR-UDA, a novel two-stage self-training-based Unsupervised Domain Adaptation (UDA) method for LiDAR segmentation. Existing self-training methods use a model trained on labeled source data to generate pseudo labels for target…

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…

LIDAR and RADAR are two commonly used sensors in autonomous driving systems. The extrinsic calibration between the two is crucial for effective sensor fusion. The challenge arises due to the low accuracy and sparse information in RADAR…

Traversability prediction is a fundamental perception capability for autonomous navigation. The diversity of data in different domains imposes significant gaps to the prediction performance of the perception model. In this work, we make…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-state LiDARs by leveraging an efficient and reliable edge…

Monocular camera calibration is a key precondition for numerous 3D vision applications. Despite considerable advancements, existing methods often hinge on specific assumptions and struggle to generalize across varied real-world scenarios,…

Sensor fusion has become a popular topic in robotics. However, conventional fusion methods encounter many difficulties, such as data representation differences, sensor variations, and extrinsic calibration. For example, the calibration…

In this letter, we present a novel method for automatic extrinsic calibration of high-resolution LiDARs and RGB cameras in targetless environments. Our approach does not require checkerboards but can achieve pixel-level accuracy by aligning…