相关论文: RKHS-BA: A Robust Correspondence-Free Multi-View R…

Semantic segmentation of multi-source remote sensing images is a fundamental task for Earth observation applications. Existing methods often struggle with insufficient multi-scale context modeling and suboptimal cross-modal feature fusion,…

The success of deep convolutional architectures is often attributed in part to their ability to learn multiscale and invariant representations of natural signals. However, a precise study of these properties and how they affect learning…

Millimeter-wave radar plays a vital role in 3D object detection for autonomous driving due to its all-weather and all-lighting-condition capabilities for perception. However, radar point clouds suffer from pronounced sparsity and…

Roadside units (RSUs) can help vehicles sense the traffic environment, so as to improve traffic safety. Since the sensing capability of single RSU is limited, we propose a multiple RSUs cooperative radar sensing network (RSU-CRSN) with…

A mathematical model for variable selection in functional regression models with scalar response is proposed. By "variable selection" we mean a procedure to replace the whole trajectories of the functional explanatory variables with their…

Visual scene understanding is an important capability that enables robots to purposefully act in their environment. In this paper, we propose a novel approach to object-class segmentation from multiple RGB-D views using deep learning. We…

We propose a novel approach for pixel classification in hyperspectral images, leveraging on both the spatial and spectral information in the data. The introduced method relies on a recently proposed framework for learning on distributions…

Remarkable progress has been made in self-supervised monocular depth estimation (SS-MDE) by exploring cross-view consistency, e.g., photometric consistency and 3D point cloud consistency. However, they are very vulnerable to illumination…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

We present ObjectMatch, a semantic and object-centric camera pose estimator for RGB-D SLAM pipelines. Modern camera pose estimators rely on direct correspondences of overlapping regions between frames; however, they cannot align camera…

The reproducing kernel Hilbert space (RKHS) embedding method is a recently introduced estimation approach that seeks to identify the unknown or uncertain function in the governing equations of a nonlinear set of ordinary differential…

A Hilbert space embedding of a distribution---in short, a kernel mean embedding---has recently emerged as a powerful tool for machine learning and inference. The basic idea behind this framework is to map distributions into a reproducing…

Aligning partial views of a scene into a single whole is essential to understanding one's environment and is a key component of numerous robotics tasks such as SLAM and SfM. Recent approaches have proposed end-to-end systems that can…

Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…

Point cloud registration aims to provide estimated transformations to align point clouds, which plays a crucial role in pose estimation of various navigation systems, such as surgical guidance systems and autonomous vehicles. Despite the…

Autonomous robots require change-robust spatial-semantic reasoning: using spatial and semantic knowledge to decide where to go, how to get there, and where the robot is despite environmental change. Existing approaches typically attach…

Point cloud registration aims at estimating the geometric transformation between two point cloud scans, in which point-wise correspondence estimation is the key to its success. In addition to previous methods that seek correspondences by…

Point clouds can be represented in many forms (views), typically, point-based sets, voxel-based cells or range-based images(i.e., panoramic view). The point-based view is geometrically accurate, but it is disordered, which makes it…

Accurate and robust 3D object detection is essential for autonomous driving, where fusing data from sensors like LiDAR and camera enhances detection accuracy. However, sensor malfunctions such as corruption or disconnection can degrade…