相关论文: ORB-SfMLearner: ORB-Guided Self-supervised Visual …

This paper presents a self-supervised framework for learning to detect robust keypoints for odometry estimation and metric localisation in radar. By embedding a differentiable point-based motion estimator inside our architecture, we learn…

In recent years, significant progress has been made in multi-objective reinforcement learning (RL) research, which aims to balance multiple objectives by incorporating preferences for each objective. In most existing studies, specific…

Forecasting motion of a specific target object is a common problem for surgical interventions, e.g. for localization of a target region, guidance for surgical interventions, or motion compensation. Optical coherence tomography (OCT) is an…

In this paper, the problem of orientation correction in cardiac MRI images is investigated and a framework for orientation recognition via deep neural networks is proposed. For multi-modality MRI, we introduce a transfer learning strategy…

The Schr\"{o}dinger bridge (SB) has evolved into a universal class of probabilistic generative models. In practice, however, estimated learning signals are innately uncertain, and the reliability promised by existing methods is often based…

For ego-motion estimation, the feature representation of the scenes is crucial. Previous methods indicate that both the low-level and semantic feature-based methods can achieve promising results. Therefore, the incorporation of hierarchical…

Recently, deep-learning based approaches have achieved impressive performance for autonomous driving. However, end-to-end vision-based methods typically have limited interpretability, making the behaviors of the deep networks difficult to…

Identifying moving objects is an essential capability for autonomous systems, as it provides critical information for pose estimation, navigation, collision avoidance, and static map construction. In this paper, we present MotionBEV, a fast…

This paper presents an efficient and accurate radar odometry pipeline for large-scale localization. We propose a radar filter that keeps only the strongest reflections per-azimuth that exceeds the expected noise level. The filtered radar…

Monocular visual odometry is a key technology in various autonomous systems. Traditional feature-based methods suffer from failures due to poor lighting, insufficient texture, and large motions. In contrast, recent learning-based dense SLAM…

LiDAR odometry estimation and 3D semantic segmentation are crucial for autonomous driving, which has achieved remarkable advances recently. However, these tasks are challenging due to the imbalance of points in different semantic categories…

Monocular visual-inertial odometry (VIO) is a critical problem in robotics and autonomous driving. Traditional methods solve this problem based on filtering or optimization. While being fully interpretable, they rely on manual interference…

Visual odometry (VO) plays a crucial role in autonomous driving, robotic navigation, and other related tasks by estimating the position and orientation of a camera based on visual input. Significant progress has been made in data-driven VO…

Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…

Single point-supervised object detection is gaining attention due to its cost-effectiveness. However, existing approaches focus on generating horizontal bounding boxes (HBBs) while ignoring oriented bounding boxes (OBBs) commonly used for…

Hybrid pipelines that combine deep learning with classical optimization have established themselves as the dominant approach to visual odometry (VO). By integrating neural network predictions with bundle adjustment, these models estimate…

Radar sensors are emerging as solutions for perceiving surroundings and estimating ego-motion in extreme weather conditions. Unfortunately, radar measurements are noisy and suffer from mutual interference, which degrades the performance of…

In recent years, transformer-based architectures become the de facto standard for sequence modeling in deep learning frameworks. Inspired by the successful examples, we propose a causal visual-inertial fusion transformer (VIFT) for pose…

Recent learning-based LiDAR odometry methods have demonstrated their competitiveness. However, most methods still face two substantial challenges: 1) the 2D projection representation of LiDAR data cannot effectively encode 3D structures…

Recent advances in language modeling demonstrate the need for high-quality domain-specific training data, especially for tasks that require specialized knowledge. General-purpose models, while versatile, often lack the depth needed for…