相关论文: Energy-Based Models for Cross-Modal Localization u…

We propose a novel end-to-end method for cross-view pose estimation. Given a ground-level query image and an aerial image that covers the query's local neighborhood, the 3 Degrees-of-Freedom camera pose of the query is estimated by matching…

Image-to-image translation aims to preserve source contents while translating to discriminative target styles between two visual domains. Most works apply adversarial learning in the ambient image space, which could be computationally…

Model-based planning holds great promise for improving both sample efficiency and generalization in reinforcement learning (RL). We show that energy-based models (EBMs) are a promising class of models to use for model-based planning. EBMs…

The widespread use of GPS devices has driven advances in spatiotemporal data mining, enabling machine learning models to simulate human decision making and generate realistic trajectories, addressing both data collection costs and privacy…

In this paper, a multi-modal vehicle positioning framework that jointly localizes vehicles with channel state information (CSI) and images is designed. In particular, we consider an outdoor scenario where each vehicle can communicate with…

We address the challenging task of Localization via Embodied Dialog (LED). Given a dialog from two agents, an Observer navigating through an unknown environment and a Locator who is attempting to identify the Observer's location, the goal…

In this paper, we propose conjugate energy-based models (CEBMs), a new class of energy-based models that define a joint density over data and latent variables. The joint density of a CEBM decomposes into an intractable distribution over…

We propose to learn energy-based model (EBM) in the latent space of a generator model, so that the EBM serves as a prior model that stands on the top-down network of the generator model. Both the latent space EBM and the top-down network…

This paper proposes a novel framework for real-time localization and egomotion tracking of a vehicle in a reference map. The core idea is to map the semantic objects observed by the vehicle and register them to their corresponding objects…

Electromagnetic skins (EMSs) have been recently considered as a booster for wireless sensing, but their usage on mobile targets is relatively novel and could be of interest when the target reflectivity can/must be increased to improve its…

In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the use of these maps for localization remains largely…

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…

Radio map estimation (RME), which predicts wireless signal metrics at unmeasured locations from sparse measurements, has attracted growing attention as a key enabler of intelligent wireless networks. The majority of existing RME techniques…

In this chapter we provide a thorough overview of the use of energy-based models (EBMs) in the context of inverse imaging problems. EBMs are probability distributions modeled via Gibbs densities $p(x) \propto \exp{-E(x)}$ with an…

This article introduces BEVPlace++, a novel, fast, and robust LiDAR global localization method for unmanned ground vehicles. It uses lightweight convolutional neural networks (CNNs) on Bird's Eye View (BEV) image-like representations of…

Vision-based localization is a cost-effective and thus attractive solution for many intelligent mobile platforms. However, its accuracy and especially robustness still suffer from low illumination conditions, illumination changes, and…

Event cameras are bio-inspired sensors with some notable features, including high dynamic range and low latency, which makes them exceptionally suitable for perception in challenging scenarios such as high-speed motion and extreme lighting…

For autonomous ground vehicles (AGVs) deployed in suburban neighborhoods and other human-centric environments the problem of localization remains a fundamental challenge. There are well established methods for localization with GPS, lidar,…

This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…

Current state-of-the-art generative models map noise to data distributions by matching flows or scores. A key limitation of these models is their inability to readily integrate available partial observations and additional priors. In…