相关论文: VNI-Net: Vector Neurons-based Rotation-Invariant D…

We often encounter limited FOV situations due to various factors such as sensor fusion or sensor mount in real-world robot navigation. However, the limited FOV interrupts the generation of descriptions and impacts place recognition…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

Learning to predict reliable characteristic orientations of 3D point clouds is an important yet challenging problem, as different point clouds of the same class may have largely varying appearances. In this work, we introduce a novel method…

Riemannian metrics on the position-orientation space M(3) that are roto-translation group SE(3) invariant play a key role in image analysis tasks like enhancement, denoising, and segmentation. These metrics enable roto-translation…

Analyzing scalar and vector fields on the sphere, such as temperature or wind speed and direction on Earth, is a difficult task. Models should respect both the rotational symmetries of the sphere and the inherent symmetries of the vector…

In challenging environments where traditional sensing modalities struggle, in-air sonar offers resilience to optical interference. Placing a priori known landmarks in these environments can eliminate accumulated errors in autonomous mobile…

Effective recognition of spatial patterns and learning their hierarchy is crucial in modern spatial data analysis. Volumetric data applications seek techniques ensuring invariance not only to shifts but also to pattern rotations. While…

Most image instance retrieval pipelines are based on comparison of vectors known as global image descriptors between a query image and the database images. Due to their success in large scale image classification, representations extracted…

This paper analyzes the robustness of recent 3D shape descriptors to SO(3) rotations, something that is fundamental to shape modeling. Specifically, we formulate the task of rotated 3D object instance detection. To do so, we consider a…

Inverse rendering is an ill-posed problem, but priors like illumination priors, can simplify it. Existing work either disregards the spherical and rotation-equivariant nature of illumination environments or does not provide a well-behaved…

Convolutional Neural Networks (CNNs) have recently been shown to excel at performing visual place recognition under changing appearance and viewpoint. Previously, place recognition has been improved by intelligently selecting relevant…

LiDAR registration is a fundamental task in robotic mapping and localization. A critical component of aligning two point clouds is identifying robust point correspondences using point descriptors. This step becomes particularly challenging…

Classical monocular vSLAM/VO methods suffer from the scale ambiguity problem. Hybrid approaches solve this problem by adding deep learning methods, for example by using depth maps which are predicted by a CNN. We suggest that it is better…

Retrieval-based place recognition is an efficient and effective solution for re-localization within a pre-built map, or global data association for Simultaneous Localization and Mapping (SLAM). The accuracy of such an approach is heavily…

Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent years, LiDAR scan based place recognition has drawn attention…

We train embodied neural networks to plan and navigate unseen complex 3D environments, emphasising real-world deployment. Rather than requiring prior knowledge of the agent or environment, the planner learns to model the state transitions…

Equivariant networks have been adopted in many 3-D learning areas. Here we identify a fundamental limitation of these networks: their ambiguity to symmetries. Equivariant networks cannot complete symmetry-dependent tasks like segmenting a…

This paper presents a novel method for ground segmentation in Velodyne point clouds. We propose an encoding of sparse 3D data from the Velodyne sensor suitable for training a convolutional neural network (CNN). This general purpose approach…

Training a Convolutional Neural Network (CNN) to be robust against rotation has mostly been done with data augmentation. In this paper, another progressive vision of research direction is highlighted to encourage less dependence on data…

The training of a next-best-view (NBV) planner for visual place recognition (VPR) is a fundamentally important task in autonomous robot navigation, for which a typical approach is the use of visual experiences that are collected in the…