相关论文: Dual-BEV Nav: Dual-layer BEV-based Heuristic Path …

We present BEV-SLD, a LiDAR global localization method building on the Scene Landmark Detection (SLD) concept. Unlike scene-agnostic pipelines, our self-supervised approach leverages bird's-eye-view (BEV) images to discover scene-specific…

The bird's-eye-view (BEV) representation allows robust learning of multiple tasks for autonomous driving including road layout estimation and 3D object detection. However, contemporary methods for unified road layout estimation and 3D…

Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…

Depth estimation is a cornerstone of perception in autonomous driving and robotic systems. The considerable cost and relatively sparse data acquisition of LiDAR systems have led to the exploration of cost-effective alternatives, notably,…

We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and…

Autonomous driving requires an understanding of the static environment from sensor data. Learned Bird's-Eye View (BEV) encoders are commonly used to fuse multiple inputs, and a vector decoder predicts a vectorized map representation from…

Navigating robots discreetly in human work environments while considering the possible privacy implications of robotic tasks presents significant challenges. Such scenarios are increasingly common, for instance, when robots transport…

Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and…

Semantic segmentation of aerial imagery is an important tool for mapping and earth observation. However, supervised deep learning models for segmentation rely on large amounts of high-quality labelled data, which is labour-intensive and…

Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent scale information from monocular cameras. Traditional methods…

Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…

Bird's-Eye-View (BEV) representation offers a metric-scaled planar workspace, facilitating the simplification of 6-DoF ego-motion to a more robust 3-DoF model for monocular visual odometry (MVO) in intelligent transportation systems.…

Navigating an environment with uncertain connectivity requires a strategic balance between minimizing the cost of traversal and seeking information to resolve map ambiguities. Unlike previous approaches that rely on local sensing, we…

We propose a novel method for autonomous legged robot navigation in densely vegetated environments with a variety of pliable/traversable and non-pliable/untraversable vegetation. We present a novel few-shot learning classifier that can be…

As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…

Recent Vision-and-Language Navigation (VLN) advancements are promising, but their idealized assumptions about robot movement and control fail to reflect physically embodied deployment challenges. To bridge this gap, we introduce VLN-PE, a…

It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…

Effective risk monitoring in dynamic environments such as disaster zones requires an adaptive exploration strategy to detect hidden threats. We propose a bi-level unmanned aerial vehicle (UAV) monitoring strategy that efficiently integrates…

Extracting a Bird's Eye View (BEV) representation from multiple camera images offers a cost-effective, scalable alternative to LIDAR-based solutions in autonomous driving. However, the performance of the existing BEV methods drops…

We present BEVCon, a simple yet effective contrastive learning framework designed to improve Bird's Eye View (BEV) perception in autonomous driving. BEV perception offers a top-down-view representation of the surrounding environment, making…