相关论文: MOS: Model Synergy for Test-Time Adaptation on LiD…

Learning dynamics is essential for model-based control and Reinforcement Learning in engineering systems, such as robotics and power systems. However, limited system measurements, such as those from low-resolution sensors, demand…

LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…

Object detection and global localization play a crucial role in robotics, spanning across a great spectrum of applications from autonomous cars to multi-layered 3D Scene Graphs for semantic scene understanding. This article proposes BOX3D,…

Optical-SAR image matching is a fundamental task for image fusion and visual navigation. However, all large-scale open SAR dataset for methods development are collected from single platform, resulting in limited satellite types and spatial…

Recent advancements in camera-based 3D object detection have introduced cross-modal knowledge distillation to bridge the performance gap with LiDAR 3D detectors, leveraging the precise geometric information in LiDAR point clouds. However,…

Occluded and long-range objects are ubiquitous and challenging for 3D object detection. Point cloud sequence data provide unique opportunities to improve such cases, as an occluded or distant object can be observed from different viewpoints…

Object discovery, which refers to the task of localizing objects without human annotations, has gained significant attention in 2D image analysis. However, despite this growing interest, it remains under-explored in 3D data, where…

3D object Detection with LiDAR-camera encounters overfitting in algorithm development which is derived from the violation of some fundamental rules. We refer to the data annotation in dataset construction for theory complementing and argue…

Multi-modal 3D object detection with bird's eye view (BEV) has achieved desired advances on benchmarks. Nonetheless, the accuracy may drop significantly in the real world due to data corruption such as sensor configurations for LiDAR and…

Radar must adapt to changing environments, and we propose changepoint detection as a method to do so. In the world of increasingly congested radio frequencies, radars must adapt to avoid interference. Many radar systems employ the…

Unsupervised change detection between airborne LiDAR data points, taken at separate times over the same location, can be difficult due to unmatching spatial support and noise from the acquisition system. Most current approaches to detect…

3D point cloud semantic segmentation (PCSS) is a cornerstone for environmental perception in robotic systems and autonomous driving, enabling precise scene understanding through point-wise classification. While unsupervised domain…

Deep learning models such as convolutional neural networks and transformers have been widely applied to solve 3D object detection problems in the domain of autonomous driving. While existing models have achieved outstanding performance on…

This paper presents a Simple and effective unsupervised adaptation method for Robust Object Detection (SimROD). To overcome the challenging issues of domain shift and pseudo-label noise, our method integrates a novel domain-centric…

Understanding the scene is key for autonomously navigating vehicles and the ability to segment the surroundings online into moving and non-moving objects is a central ingredient for this task. Often, deep learning-based methods are used to…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

Collaborative Intrusion Detection Systems (CIDS) are increasingly adopted to counter cyberattacks, as their collaborative nature enables them to adapt to diverse scenarios across heterogeneous environments. As distributed critical…

Large-scale multi-session LiDAR mapping is essential for a wide range of applications, including surveying, autonomous driving, crowdsourced mapping, and multi-agent navigation. However, existing approaches often struggle with data…

LiDAR object detection algorithms based on neural networks for autonomous driving require large amounts of data for training, validation, and testing. As real-world data collection and labeling are time-consuming and expensive,…

The online fusion and tracking of static objects from heterogeneous sensor detections is a fundamental problem in robotics, autonomous systems, and environmental mapping. Although classical data association approaches such as JPDA are well…