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

As mobile robot capabilities improve and deployment times increase, tools to analyze the growing volume of data are becoming necessary. Current state-of-the-art logging, playback, and exploration systems are insufficient for practitioners…

We propose a new approach called LiDAR-Flow to robustly estimate a dense scene flow by fusing a sparse LiDAR with stereo images. We take the advantage of the high accuracy of LiDAR to resolve the lack of information in some regions of…

To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes…

Autonomous vehicles are equipped with a multi-modal sensor setup to enable the car to drive safely. The initial calibration of such perception sensors is a highly matured topic and is routinely done in an automated factory environment.…

6-DoF visual localization systems utilize principled approaches rooted in 3D geometry to perform accurate camera pose estimation of images to a map. Current techniques use hierarchical pipelines and learned 2D feature extractors to improve…

This paper proposes FAST-LIVO2: a fast, direct LiDAR-inertial-visual odometry framework to achieve accurate and robust state estimation in SLAM tasks and provide great potential in real-time, onboard robotic applications. FAST-LIVO2 fuses…

Given a single photo of a room and a large database of furniture CAD models, our goal is to reconstruct a scene that is as similar as possible to the scene depicted in the photograph, and composed of objects drawn from the database. We…

Camera relocalization methods range from dense image alignment to direct camera pose regression from a query image. Among these, sparse feature matching stands out as an efficient, versatile, and generally lightweight approach with numerous…

This paper presents an approach for applying camera perception techniques to spinning LiDAR data. To improve the robustness of long-term change detection from a 3D LiDAR, range and intensity information are rendered into virtual…

LiDAR relocalization aims to estimate the global 6-DoF pose of a sensor in the environment. However, existing regression-based approaches are prone to dynamic or ambiguous scenarios, as they either solely rely on single-frame inference or…

Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

Sensing the medical scenario can ensure the safety during the surgical operations. So, in this regard, a monitor platform which can obtain the accurate location information of the surgery room is desperately needed. Compared to 2D camera…

Scene flow is the dense 3D reconstruction of motion and geometry of a scene. Most state-of-the-art methods use a pair of stereo images as input for full scene reconstruction. These methods depend a lot on the quality of the RGB images and…

Scene understanding in remote sensing often faces challenges in generating accurate representations for complex environments such as various land use areas or coastal regions, which may also include snow, clouds, or haze. To address this,…

Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…

LiDAR mapping is important yet challenging in self-driving and mobile robotics. To tackle such a global point cloud registration problem, DeepMapping converts the complex map estimation into a self-supervised training of simple deep…

Referring video object segmentation (RVOS) requires tracking and segmenting an object throughout a video according to a given natural language expression, demanding both complex motion understanding and the alignment of visual…

In the past few years, numerous Deep Neural Network (DNN) models and frameworks have been developed to tackle the problem of real-time object detection from RGB images. Ordinary object detection approaches process information from the…

Creating large LiDAR datasets with pixel-level labeling poses significant challenges. While numerous data augmentation methods have been developed to reduce the reliance on manual labeling, these methods predominantly focus on static scenes…

The ability for a moving agent to localize itself in environment is the basic demand for emerging applications, such as autonomous driving, etc. Many existing methods based on multiple sensors still suffer from drift. We propose a scheme…