相关论文: Pose-Graph Attentional Graph Neural Network for Li…

Attention mechanisms have become of crucial importance in deep learning in recent years. These non-local operations, which are similar to traditional patch-based methods in image processing, complement local convolutions. However, computing…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Visual localization plays an important role for intelligent robots and autonomous driving, especially when the accuracy of GNSS is unreliable. Recently, camera localization in LiDAR maps has attracted more and more attention for its low…

Place recognition is an important component for autonomous vehicles to achieve loop closing or global localization. In this paper, we tackle the problem of place recognition based on sequential 3D LiDAR scans obtained by an onboard LiDAR…

Data-efficient learning on graphs (GEL) is essential in real-world applications. Existing GEL methods focus on learning useful representations for nodes, edges, or entire graphs with ``small'' labeled data. But the problem of data-efficient…

Globally localizing in a given map is a crucial ability for robots to perform a wide range of autonomous navigation tasks. This paper presents OneShot - a global localization algorithm that uses only a single 3D LiDAR scan at a time, while…

Graph matching can be formalized as a combinatorial optimization problem, where there are corresponding relationships between pairs of nodes that can be represented as edges. This problem becomes challenging when there are potential…

Point cloud registration is a fundamental task in many applications such as localization, mapping, tracking, and reconstruction. Successful registration relies on extracting robust and discriminative geometric features. Though existing…

Pose-graph SLAM is the de facto standard framework for constructing large-scale maps from multi-session experiences of relative observations and motions during visual robot navigation. It has received increasing attention in the context of…

Spatial-temporal network traffic forecasting is a challenging task due to the complex spatial relationships and dynamic temporal patterns present in each node. Traditional regression methods are not directly applicable to such graph data.…

Spatio-temporal information is key to resolve occlusion and depth ambiguity in 3D pose estimation. Previous methods have focused on either temporal contexts or local-to-global architectures that embed fixed-length spatio-temporal…

Graph Neural Networks (GNNs) have been widely studied for graph data representation and learning. However, existing GNNs generally conduct context-aware learning on node feature representation only which usually ignores the learning of edge…

Lots of neural network architectures have been proposed to deal with learning tasks on graph-structured data. However, most of these models concentrate on only node features during the learning process. The edge features, which usually play…

Triggered by the success of transformers in various visual tasks, the spatial self-attention mechanism has recently attracted more and more attention in the computer vision community. However, we empirically found that a typical vision…

Real-time registration of partially overlapping point clouds has emerging applications in cooperative perception for autonomous vehicles and multi-agent SLAM. The relative translation between point clouds in these applications is higher…

Accurate and robust localization and mapping are essential components for most autonomous robots. In this paper, we propose a SLAM system for building globally consistent maps, called PIN-SLAM, that is based on an elastic and compact…

Relative pose estimation is crucial for various computer vision applications, including Robotic and Autonomous Driving. Current methods primarily depend on selecting and matching feature points prone to incorrect matches, leading to poor…

Given point cloud input, the problem of 6-DoF grasp pose detection is to identify a set of hand poses in SE(3) from which an object can be successfully grasped. This important problem has many practical applications. Here we propose a novel…

Graph or network data is ubiquitous in the real world, including social networks, information networks, traffic networks, biological networks and various technical networks. The non-Euclidean nature of graph data poses the challenge for…

We consider the distributed pose-graph optimization (PGO) problem, which is fundamental in accurate trajectory estimation in multi-robot simultaneous localization and mapping (SLAM). Conventional iterative approaches linearize a highly…