相关论文: Ephemerality meets LiDAR-based Lifelong Mapping

The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly…

As robotics continues to advance, the need for adaptive and continuously-learning embodied agents increases, particularly in the realm of assistance robotics. Quick adaptability and long-term information retention are essential to operate…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

In an era defined by rapid data evolution, traditional Machine Learning (ML) models often struggle to adapt to dynamic environments. Evolving Machine Learning (EML) has emerged as a pivotal paradigm, enabling continuous learning 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…

LiDAR Inertial Odometry (LIO) is a critical component for many mobile robots that need to navigate without relying on external positioning (e.g., GPS). Platforms that operate autonomously in different environments and with heterogeneous…

Lifelong learning is a long-standing aim for artificial agents that act in dynamic environments, in which an agent needs to accumulate knowledge incrementally without forgetting previously learned representations. We investigate methods for…

We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

Event cameras are an interesting visual exteroceptive sensor that reacts to brightness changes rather than integrating absolute image intensities. Owing to this design, the sensor exhibits strong performance in situations of challenging…

Event cameras provide a compelling alternative to traditional frame-based sensors, capturing dynamic scenes with high temporal resolution and low latency. Moving objects trigger events with precise timestamps along their trajectory,…

In real-world Information Retrieval (IR) experiments, the Evaluation Environment (EE) is exposed to constant change. Documents are added, removed, or updated, and the information need and the search behavior of users is evolving.…

Real-world robotic agents must act under partial observability and long horizons, where key cues may appear long before they affect decision making. However, most modern approaches rely solely on instantaneous information, without…

Real-time semantic segmentation of LiDAR data is crucial for autonomously driving vehicles, which are usually equipped with an embedded platform and have limited computational resources. Approaches that operate directly on the point cloud…

Lifelong localization in a given map is an essential capability for autonomous service robots. In this paper, we consider the task of long-term localization in a changing indoor environment given sparse CAD floor plans. The commonly used…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to…

Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…

We would like a robot to navigate to a goal location while minimizing state uncertainty. To aid the robot in this endeavor, maps provide a prior belief over the location of objects and regions of interest. To localize itself within the map,…