相关论文: VioLA: Aligning Videos to 2D LiDAR Scans

Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…

This paper quantifies an error source that limits the accuracy of lidar scan matching, particularly for voxel-based methods. Lidar scan matching, which is used in dead reckoning (also known as lidar odometry) and mapping, computes the…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

Point cloud registration is a fundamental problem in 3D scanning. In this paper, we address the frequent special case of registering terrestrial LiDAR scans (or, more generally, levelled point clouds). Many current solutions still rely on…

Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene…

Leveraging diverse robotic data for pretraining remains a critical challenge. Existing methods typically model the dataset's action distribution using simple observations as inputs. However, these inputs are often incomplete, resulting in a…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Accurate camera-to-lidar calibration is a requirement for sensor data fusion in many 3D perception tasks. In this paper, we present SceneCalib, a novel method for simultaneous self-calibration of extrinsic and intrinsic parameters in a…

Video Action Recognition (VAR) is a challenging task due to its inherent complexities. Though different approaches have been explored in the literature, designing a unified framework to recognize a large number of human actions is still a…

We present the top ranked solution for the AISG-SLA Visual Localisation Challenge benchmark (IJCAI 2023), where the task is to estimate relative motion between images taken in sequence by a camera mounted on a car driving through an urban…

We propose a robust calibration pipeline that optimises the selection of calibration samples for the estimation of calibration parameters that fit the entire scene. We minimise user error by automating the data selection process according…

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…

Beyond traditional security methods, unmanned aerial vehicles (UAVs) have become an important surveillance tool used in security domains to collect the required annotated data. However, collecting annotated data from videos taken by UAVs…

In this paper, we propose a method of targetless and automatic Camera-LiDAR calibration. Our approach is an extension of hand-eye calibration framework to 2D-3D calibration. By using the sensor fusion odometry method, the scaled camera…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Full 3D scanning can efficiently be obtained using structured light scanning combined with a rotation stage. In this setting it is, however, necessary to reposition the object and scan it in different poses in order to cover the entire…

This paper presents a compact and accurate representation of 3D scenes that are observed by a LiDAR sensor and a monocular camera. The proposed method is based on the well-established Stixel model originally developed for stereo vision…

Detecting what has changed in an environment is essential for long-term autonomy, yet most change detection settings assume fixed viewpoints, mild misalignment, or only a few changed objects. We introduce Video-based Scene Change Detection…

Existing learning methods for LiDAR-based applications use 3D points scanned under a pre-determined beam configuration, e.g., the elevation angles of beams are often evenly distributed. Those fixed configurations are task-agnostic, so…