相关论文: LoopDB: A Loop Closure Dataset for Large Scale Sim…

A key functional block of visual navigation system for intelligent autonomous vehicles is Loop Closure detection and subsequent relocalisation. State-of-the-Art methods still approach the problem as uni-directional along the direction of…

Object grasping is critical for many applications, which is also a challenging computer vision problem. However, for the clustered scene, current researches suffer from the problems of insufficient training data and the lacking of…

Simultaneous Localization & Mapping (SLAM) is the process of building a mutual relationship between localization and mapping of the subject in its surrounding environment. With the help of different sensors, various types of SLAM systems…

Our work introduces the YCB-Ev dataset, which contains synchronized RGB-D frames and event data that enables evaluating 6DoF object pose estimation algorithms using these modalities. This dataset provides ground truth 6DoF object poses for…

Background: Loop closure detection is a crucial part in robot navigation and simultaneous location and mapping (SLAM). Appearance-based loop closure detection still faces many challenges, such as illumination changes, perceptual aliasing…

In recent years, the robotics community has extensively examined methods concerning the place recognition task within the scope of simultaneous localization and mapping applications.This article proposes an appearance-based loop closure…

We demonstrate NeedleDB, an open-source, deployment-ready database system for answering complex natural language queries over image data. Unlike existing approaches that rely on contrastive-learning embeddings (e.g., CLIP), which degrade on…

Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping(SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR based place…

Low cost robots, such as vacuum cleaners or lawn mowers employ simplistic and often random navigation policies. Although a large number of sophisticated mapping and planning approaches exist, they require additional sensors like LIDAR…

The low-light conditions are challenging to the vision-centric perception systems for autonomous driving in the dark environment. In this paper, we propose a new benchmark dataset (named DarkDriving) to investigate the low-light enhancement…

Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against those challenges. Our method starts with activation of a mapping…

Recording the dynamics of unscripted human interactions in the wild is challenging due to the delicate trade-offs between several factors: participant privacy, ecological validity, data fidelity, and logistical overheads. To address these,…

Simultaneous Localization and Mapping (SLAM) is considered an ever-evolving problem due to its usage in many applications. Evaluation of SLAM is done typically using publicly available datasets which are increasing in number and the level…

Simultaneous Localization and Mapping (SLAM) technology has been widely applied in various robotic scenarios, from rescue operations to autonomous driving. However, the generalization of SLAM algorithms remains a significant challenge, as…

This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…

In many applications, maintaining a consistent dense map of the environment is key to enabling robotic platforms to perform higher level decision making. Several works have addressed the challenge of creating precise dense 3D maps from…

This document presents novel datasets, constructed by employing the iCub robot equipped with an additional depth sensor and color camera. We used the robot to acquire color and depth information for 210 objects in different acquisition…

We investigate the challenging problem of integrating detection, signal processing, target tracking, and adaptive waveform scheduling with lookahead in urban terrain. We propose a closed-loop active sensing system to address this problem by…

Autonomous driving has attracted tremendous attention especially in the past few years. The key techniques for a self-driving car include solving tasks like 3D map construction, self-localization, parsing the driving road and understanding…

Automatic underground parking has attracted considerable attention as the scope of autonomous driving expands. The auto-vehicle is supposed to obtain the environmental information, track its location, and build a reliable map of the…