相关论文: RE-TRIP : Reflectivity Instance Augmented Triangle…

Visual Place Recognition is an essential component of systems for camera localization and loop closure detection, and it has attracted widespread interest in multiple domains such as computer vision, robotics and AR/VR. In this work, we…

Perception of traversable regions and objects of interest from a 3D point cloud is one of the critical tasks in autonomous navigation. A ground vehicle needs to look for traversable terrains that are explorable by wheels. Then, to make safe…

Augmented Reality (AR) applications necessitates methods of inserting needed objects into scenes captured by cameras in a way that is coherent with the surroundings. Common AR applications require the insertion of predefined 3D objects with…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

This paper deals with the development of a localization methodology for autonomous vehicles using only a $3\Dim$ LIDAR sensor. In the context of this paper, localizing a vehicle in a known 3D global map of the environment is essentially to…

Perceiving pedestrians in highly crowded urban environments is a difficult long-tail problem for learning-based autonomous perception. Speeding up 3D ground truth generation for such challenging scenes is performance-critical yet very…

Current global re-localization algorithms are built on top of localization and mapping methods andheavily rely on scan matching and direct point cloud feature extraction and therefore are vulnerable infeatureless demanding environments like…

The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…

Can knowing where you are assist in perceiving objects in your surroundings, especially under adverse weather and lighting conditions? In this work we investigate whether a prior map can be leveraged to aid in the detection of dynamic…

Accurate reconstruction of static environments from LiDAR scans of scenes containing dynamic objects, which we refer to as Dynamic to Static Translation (DST), is an important area of research in Autonomous Navigation. This problem has been…

The LiDAR fiducial tag, akin to the well-known AprilTag used in camera applications, serves as a convenient resource to impart artificial features to the LiDAR sensor, facilitating robotics applications. Unfortunately, the existing LiDAR…

In this paper, we develop position embedding transformation (PETR) for multi-view 3D object detection. PETR encodes the position information of 3D coordinates into image features, producing the 3D position-aware features. Object query can…

Simultaneous localization and mapping (SLAM) has been a hot research field in the past years. Against the backdrop of more affordable 3D LiDAR sensors, research on 3D LiDAR SLAM is becoming increasingly popular. Furthermore, the…

Person re identification is a challenging retrieval task that requires matching a person's acquired image across non overlapping camera views. In this paper we propose an effective approach that incorporates both the fine and coarse pose…

Autonomous driving datasets are often skewed and in particular, lack training data for objects at farther distances from the ego vehicle. The imbalance of data causes a performance degradation as the distance of the detected objects…

In this work, we propose a fast and robust Image Feature Triangle Descriptor (IFTD) based on the STD method, aimed at improving the efficiency and accuracy of place recognition in driving scenarios. We extract keypoints from BEV projection…

Relative pose regressors (RPRs) localize a camera by estimating its relative translation and rotation to a pose-labelled reference. Unlike scene coordinate regression and absolute pose regression methods, which learn absolute scene…

The unsupervised 3D object detection is to accurately detect objects in unstructured environments with no explicit supervisory signals. This task, given sparse LiDAR point clouds, often results in compromised performance for detecting…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…