相关论文: ELiOT : End-to-end Lidar Odometry using Transforme…

In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…

In recent years, fully differentiable end-to-end autonomous driving systems have become a research hotspot in the field of intelligent transportation. Among various research directions, automatic parking is particularly critical as it aims…

Reconstructing large-scale colored point clouds is an important task in robotics, supporting perception, navigation, and scene understanding. Despite advances in LiDAR inertial visual odometry (LIVO), its performance remains highly…

Estimating the 3D motion of points in a scene, known as scene flow, is a core problem in computer vision. Traditional learning-based methods designed to learn end-to-end 3D flow often suffer from poor generalization. Here we present a…

End-to-end object detectors offer a promising NMS-free paradigm for real-time applications, yet their high computational cost remains a significant barrier, particularly for complex scenarios like intersection traffic monitoring. To address…

We present INDOOR-LIDAR, a comprehensive hybrid dataset of indoor 3D LiDAR point clouds designed to advance research in robot perception. Existing indoor LiDAR datasets often suffer from limited scale, inconsistent annotation formats, and…

With robots being deployed in increasingly complex environments like underground mines and planetary surfaces, the multi-sensor fusion method has gained more and more attention which is a promising solution to state estimation in the such…

LiDAR Odometry and Mapping (LOAM) is a pivotal technique for embodied-AI applications such as autonomous driving and robot navigation. Most existing LOAM frameworks are either contingent on the supervision signal, or lack of the…

LiDAR-Inertial Odometry (LIO) is widely used for autonomous navigation, but its deployment on Size, Weight, and Power (SWaP)-constrained platforms remains challenging due to the computational cost of processing dense point clouds.…

Appearance-based detectors achieve remarkable performance on common scenes, but tend to fail for scenarios lack of training data. Geometric motion segmentation algorithms, however, generalize to novel scenes, but have yet to achieve…

In this letter we investigate a tightly coupled Lidar-Inertia Odometry and Mapping (LIOM) scheme, with the capability to incorporate multiple lidars with complementary field of view (FOV). In essence, we devise a time-synchronized scheme to…

Simultaneous state estimation and mapping is an essential capability for mobile robots working in dynamic urban environment. The majority of existing SLAM solutions heavily rely on a primarily static assumption. However, due to the presence…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

We present a novel end-to-end visual odometry architecture with guided feature selection based on deep convolutional recurrent neural networks. Different from current monocular visual odometry methods, our approach is established on the…

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…

Higher level functionality in autonomous driving depends strongly on a precise motion estimate of the vehicle. Powerful algorithms have been developed. However, their great majority focuses on either binocular imagery or pure LIDAR…

We present PIRATR, an end-to-end 3D object detection framework for robotic use cases in point clouds. Extending PI3DETR, our method streamlines parametric 3D object detection by jointly estimating multi-class 6-DoF poses and class-specific…

Machine-learning-based surrogate models offer significant computational efficiency and faster simulations compared to traditional numerical methods, especially for problems requiring repeated evaluations of partial differential equations.…

The task of 3D single object tracking (SOT) with LiDAR point clouds is crucial for various applications, such as autonomous driving and robotics. However, existing approaches have primarily relied on appearance matching or motion modeling…

In this paper, we propose SpotNet: a fast, single stage, image-centric but LiDAR anchored approach for long range 3D object detection. We demonstrate that our approach to LiDAR/image sensor fusion, combined with the joint learning of 2D and…