相关论文: DSLO: Deep Sequence LiDAR Odometry Based on Incons…

This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…

The paper presents a learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Existing methods, such as PointNetVLAD, are based on unordered point cloud representation. They use PointNet…

Existing 3D human pose estimation models suffer performance drop when applying to new scenarios with unseen poses due to their limited generalizability. In this work, we propose a novel framework, Inference Stage Optimization (ISO), for…

Visual localization on standard-definition (SD) maps has emerged as a promising low-cost and scalable solution for autonomous driving. However, existing regression-based approaches often overlook inherent geometric priors, resulting in…

Predict-then-Optimize (PTO) pipelines are widely employed in computing and networked systems, where Machine Learning (ML) models are used to predict critical contextual information for downstream decision-making tasks such as cloud LLM…

The back-end module of Distributed Collaborative Simultaneous Localization and Mapping (DCSLAM) requires solving a nonlinear Pose Graph Optimization (PGO) under a distributed setting, also known as SE(d)-synchronization. Most existing…

Modeling scene geometry using implicit neural representation has revealed its advantages in accuracy, flexibility, and low memory usage. Previous approaches have demonstrated impressive results using color or depth images but still have…

This work proposes a novel deep network architecture to solve the camera Ego-Motion estimation problem. A motion estimation network generally learns features similar to Optical Flow (OF) fields starting from sequences of images. This OF can…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Most LiDAR odometry and SLAM systems construct maps in point clouds, which are discrete and sparse when zoomed in, making them not directly suitable for navigation. Mesh maps represent a dense and continuous map format with low memory…

Loop closing and relocalization are crucial techniques to establish reliable and robust long-term SLAM by addressing pose estimation drift and degeneration. This article begins by formulating loop closing and relocalization within a unified…

In this paper, we introduce Dynamic Layer Operations (DLO), a novel approach for vertically scaling transformer-based Large Language Models (LLMs) by dynamically expanding, activating, or skipping layers using a sophisticated routing policy…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

We propose a novel concept of dual and integrated latent topologies (DITTO in short) for implicit 3D reconstruction from noisy and sparse point clouds. Most existing methods predominantly focus on single latent type, such as point or grid…

Scene flow represents the 3D motion of each point in the scene, which explicitly describes the distance and the direction of each point's movement. Scene flow estimation is used in various applications such as autonomous driving fields,…

LiDAR relocalization plays a crucial role in many fields, including robotics, autonomous driving, and computer vision. LiDAR-based retrieval from a database typically incurs high computation storage costs and can lead to globally inaccurate…

LiDAR-based place recognition is one of the key components of SLAM and global localization in autonomous vehicles and robotics applications. With the success of DL approaches in learning useful information from 3D LiDARs, place recognition…

3D object detection has become an emerging task in autonomous driving scenarios. Previous works process 3D point clouds using either projection-based or voxel-based models. However, both approaches contain some drawbacks. The voxel-based…

This work addresses the challenge of adapting dynamic deadline requirements for LiDAR object detection deep neural networks (DNNs). The computing latency of object detection is critically important to ensure safe and efficient navigation.…

Out-of-distribution (OOD) detection is essential for ensuring the robustness of machine learning models by identifying samples that deviate from the training distribution. While traditional OOD detection has primarily focused on…