相关论文: F$^3$Loc: Fusion and Filtering for Floorplan Local…

Image filters are fast, lightweight and effective, which make these conventional wisdoms preferable as basic tools in vision tasks. In practical scenarios, users have to tweak parameters multiple times to obtain satisfied results. This…

Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…

This paper presents a new approach to recognize elements in floor plan layouts. Besides walls and rooms, we aim to recognize diverse floor plan elements, such as doors, windows and different types of rooms, in the floor layouts. To this…

Image forgery localization is a very active and open research field for the difficulty to handle the large variety of manipulations a malicious user can perform by means of more and more sophisticated image editing tools. Here, we propose a…

With the development of web technology, multi-modal or multi-view data has surged as a major stream for big data, where each modal/view encodes individual property of data objects. Often, different modalities are complementary to each…

Reconstructing building floor plans from point cloud data is key for indoor navigation, BIM, and precise measurements. Traditional methods like geometric algorithms and Mask R-CNN-based deep learning often face issues with noise, limited…

Robust and versatile localization techniques are key to the success of the next industrial revolution. Yet, it is uncertain which combination of sensors will be the most robust and valuable. Thus, we present a versatile and reproducible…

Accurate localization is a foundational capacity, required for autonomous vehicles to accomplish other tasks such as navigation or path planning. It is a common practice for vehicles to use GPS to acquire location information. However, the…

Precision mapping of landslide inventory is crucial for hazard mitigation. Most landslides generally co-exist with other confusing geological features, and the presence of such areas can only be inferred unambiguously at a large scale. In…

The localization speed and accuracy in the indoor scenario can greatly impact the Quality of Experience of the user. While many individual machine learning models can achieve comparable positioning performance, their prediction mechanisms…

Accurate visual re-localization is very critical to many artificial intelligence applications, such as augmented reality, virtual reality, robotics and autonomous driving. To accomplish this task, we propose an integrated visual…

Many localization algorithms use a spatiotemporal window of sensory information in order to recognize spatial locations, and the length of this window is often a sensitive parameter that must be tuned to the specifics of the application.…

We present 360-DFPE, a sequential floor plan estimation method that directly takes 360-images as input without relying on active sensors or 3D information. Our approach leverages a loosely coupled integration between a monocular visual SLAM…

LiDAR-camera 3D multi-object tracking (MOT) combines rich visual semantics with accurate depth cues to improve trajectory consistency and tracking reliability. In practice, however, LiDAR and cameras operate at different sampling rates. To…

We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. Our approach can be instantly applied at test-time to a novel object without fine-tuning,…

Existing object localization methods are tailored to locate specific classes of objects, relying heavily on abundant labeled data for model optimization. However, acquiring large amounts of labeled data is challenging in many real-world…

In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…

The adoption of machine learning-based techniques for analog integrated circuit layout, unlike its digital counterpart, has been limited by the stringent requirements imposed by electric and problem-specific constraints, along with the…

We propose a vision-based method that localizes a ground vehicle using publicly available satellite imagery as the only prior knowledge of the environment. Our approach takes as input a sequence of ground-level images acquired by the…

Accurate localization and perception are pivotal for enhancing the safety and reliability of vehicles. However, current localization methods suffer from reduced accuracy when the line-of-sight (LOS) path is obstructed, or a combination of…