相关论文: 3DLabelProp: Geometric-Driven Domain Generalizatio…

Deep Metric Learning (DML) methods have been proven relevant for visual similarity learning. However, they sometimes lack generalization properties because they are trained often using an inappropriate sample selection strategy or due to…

In GPS-denied scenarios, a robust environmental perception and localization system becomes crucial for autonomous driving. In this paper, a LiDAR-based online localization system is developed, incorporating road marking detection and…

In this paper we propose a real-time, calibration-agnostic and effective localization system for self-driving cars. Our method learns to embed the online LiDAR sweeps and intensity map into a joint deep embedding space. Localization is then…

Multi-domain generalization (mDG) is universally aimed to minimize the discrepancy between training and testing distributions to enhance marginal-to-label distribution mapping. However, existing mDG literature lacks a general learning…

The segmentation of drivable areas and road anomalies are critical capabilities to achieve autonomous navigation for robotic wheelchairs. The recent progress of semantic segmentation using deep learning techniques has presented effective…

Domain generalization aims to learn invariance across multiple training domains, thereby enhancing generalization against out-of-distribution data. While gradient or representation matching algorithms have achieved remarkable success, these…

In this paper, we introduce a deep encoder-decoder network, named SalsaNet, for efficient semantic segmentation of 3D LiDAR point clouds. SalsaNet segments the road, i.e. drivable free-space, and vehicles in the scene by employing the…

Semantic segmentation in a supervised learning manner has achieved significant progress in recent years. However, its performance usually drops dramatically due to the data-distribution discrepancy between seen and unseen domains when we…

Domain-invariant representation learning is a powerful method for domain generalization. Previous approaches face challenges such as high computational demands, training instability, and limited effectiveness with high-dimensional data,…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

We propose a new probabilistic framework that allows mobile robots to autonomously learn deep, generative models of their environments that span multiple levels of abstraction. Unlike traditional approaches that combine engineered models…

Lane mark detection is an important element in the road scene analysis for Advanced Driver Assistant System (ADAS). Limited by the onboard computing power, it is still a challenge to reduce system complexity and maintain high accuracy at…

While LiDAR data acquisition is easy, labeling for semantic segmentation remains highly time consuming and must therefore be done selectively. Active learning (AL) provides a solution that can iteratively and intelligently label a dataset…

Poor generalization performance caused by distribution shifts in unseen domains often hinders the trustworthy deployment of deep neural networks. Many domain generalization techniques address this problem by adding a domain invariant…

It has been well recognized that detecting drivable area is central to self-driving cars. Most of existing methods attempt to locate road surface by using lane line, thereby restricting to drivable area on which have a clear lane mark. This…

Semi-supervised semantic segmentation, which leverages a limited set of labeled images, helps to relieve the heavy annotation burden. While pseudo-labeling strategies yield promising results, there is still room for enhancing the…

Deep neural networks (DNNs) have proven their capabilities in many areas in the past years, such as robotics, or automated driving, enabling technological breakthroughs. DNNs play a significant role in environment perception for the…

Semantic segmentation is a crucial task for robot navigation and safety. However, current supervised methods require a large amount of pixelwise annotations to yield accurate results. Labeling is a tedious and time consuming process that…

LiDAR is an essential sensor for autonomous driving by collecting precise geometric information regarding a scene. %Exploiting this information for perception is interesting as the amount of available data increases. As the performance of…

Point-cloud-based 3D object detection suffers from performance degradation when encountering data with novel domain gaps. To tackle it, the single-domain generalization (SDG) aims to generalize the detection model trained in a limited…