相关论文: DNOI-4DRO: Deep 4D Radar Odometry with Differentia…

Miniaturized autonomous unmanned aerial vehicles (UAVs) are gaining popularity due to their small size, enabling new tasks such as indoor navigation or people monitoring. Nonetheless, their size and simple electronics pose severe challenges…

This paper proposes an illumination-robust visual odometry (VO) system that incorporates both accelerated learning-based corner point algorithms and an extended line feature algorithm. To be robust to dynamic illumination, the proposed…

In recent years, deep-learning-based point cloud registration methods have shown significant promise. Furthermore, learning-based 3D detectors have demonstrated their effectiveness in encoding semantic information from LiDAR data. In this…

This paper presents a radar odometry method that combines probabilistic trajectory estimation and deep learned features without needing groundtruth pose information. The feature network is trained unsupervised, using only the on-board radar…

Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying…

Surround-view depth estimation is a crucial task aims to acquire the depth maps of the surrounding views. It has many applications in real world scenarios such as autonomous driving, AR/VR and 3D reconstruction, etc. However, given that…

Accurate, robust, and real-time LiDAR-based odometry (LO) is imperative for many applications like robot navigation, globally consistent 3D scene map reconstruction, or safe motion-planning. Though LiDAR sensor is known for its precise…

Odometry is a critical task for autonomous systems for self-localization and navigation. We propose a novel LiDAR-Visual odometry framework that integrates LiDAR point clouds and images for accurate and robust pose estimation. Our method…

Traditional monocular direct visual odometry (DVO) is one of the most famous methods to estimate the ego-motion of robots and map environments from images simultaneously. However, DVO heavily relies on high-quality images and accurate…

We present 4D-Net, a 3D object detection approach, which utilizes 3D Point Cloud and RGB sensing information, both in time. We are able to incorporate the 4D information by performing a novel dynamic connection learning across various…

Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or…

Automotive radar systems have evolved to provide not only range, azimuth and Doppler velocity, but also elevation data. This additional dimension allows for the representation of 4D radar as a 3D point cloud. As a result, existing deep…

Multi-modal sensor integration has become a crucial prerequisite for the real-world navigation systems. Recent studies have reported successful deployment of such system in many fields. However, it is still challenging for navigation tasks…

We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…

Accurate navigation is of paramount importance to ensure flight safety and efficiency for autonomous drones. Recent research starts to use Deep Neural Networks to enhance drone navigation given their remarkable predictive capability for…

Modern digital engineering design process commonly involves expensive repeated simulations on varying three-dimensional (3D) geometries. The efficient prediction capability of neural networks (NNs) makes them a suitable surrogate to provide…

Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…

Unsupervised learning for monocular camera motion and 3D scene understanding has gained popularity over traditional methods, relying on epipolar geometry or non-linear optimization. Notably, deep learning can overcome many issues of…

Odometry in adverse weather conditions, such as fog, rain, and snow, presents significant challenges, as traditional vision and LiDAR-based methods often suffer from degraded performance. Radar-Inertial Odometry (RIO) has emerged as a…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…