相关论文: RTMap: Real-Time Recursive Mapping with Change Det…
The image geolocalization task aims to predict the location where an image was taken anywhere on Earth using visual clues. Existing large vision-language model (LVLM) approaches leverage world knowledge, chain-of-thought reasoning, and…
Currently, high-definition (HD) map construction leans towards a lightweight online generation tendency, which aims to preserve timely and reliable road scene information. However, map elements contain strong shape priors. Subtle and sparse…
In self driving car applications, there is a requirement to predict the location of the lane given an input RGB front facing image. In this paper, we propose an architecture that allows us to increase the speed and robustness of road…
Previous works showed that Deep-RL can be applied to perform mapless navigation, including the medium transition of Hybrid Unmanned Aerial Underwater Vehicles (HUAUVs). This paper presents new approaches based on the state-of-the-art…
This paper presents a novel hierarchical motion planning approach based on Rapidly-Exploring Random Trees (RRT) for global planning and Model Predictive Control (MPC) for local planning. The approach targets a three-wheeled cycle rickshaw…
While humans can successfully navigate using abstractions, ignoring details that are irrelevant to the task at hand, most existing robotic applications require the maintenance of a detailed environment representation which consumes a…
The safe deployment of autonomous vehicles relies on their ability to effectively react to environmental changes. This can require maneuvering on varying surfaces which is still a difficult problem, especially for slippery terrains. To…
We present RobustTP, an end-to-end algorithm for predicting future trajectories of road-agents in dense traffic with noisy sensor input trajectories obtained from RGB cameras (either static or moving) through a tracking algorithm. In this…
We present a complete map management process for a visual localization system designed for multi-vehicle long- term operations in resource constrained outdoor environments. Outdoor visual localization generates large amounts of data that…
This paper introduces RouteFinder, a comprehensive foundation model framework to tackle different Vehicle Routing Problem (VRP) variants. Our core idea is that a foundation model for VRPs should be able to represent variants by treating…
We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…
One core challenge in the development of automated vehicles is their capability to deal with a multitude of complex trafficscenarios with many, hard to predict traffic participants. As part of the iterative development process, it is…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
In autonomous driving, the high-definition (HD) map plays a crucial role in localization and planning. Recently, several methods have facilitated end-to-end online map construction in DETR-like frameworks. However, little attention has been…
Large-scale map construction plays a vital role in applications like autonomous driving and navigation systems. Traditional large-scale map construction approaches mainly rely on costly and inefficient special data collection vehicles and…
For scalable autonomous driving, a robust map-based localization system, independent of GPS, is fundamental. To achieve such map-based localization, online high-definition (HD) map construction plays a significant role in accurate…
High-definition (HD) maps are evolving from pre-annotated to real-time construction to better support autonomous driving in diverse scenarios. However, this process is hindered by low-quality input data caused by onboard sensors limited…
Vectorized High-Definition (HD) map construction requires predictions of the category and point coordinates of map elements (e.g. road boundary, lane divider, pedestrian crossing, etc.). State-of-the-art methods are mainly based on…
In this paper, we compare different map management techniques for long-term visual navigation in changing environments. In this scenario, the navigation system needs to continuously update and refine its feature map in order to adapt to the…
Navigation in dense crowds is a well-known open problem in robotics with many challenges in mapping, localization, and planning. Traditional solutions consider dense pedestrians as passive/active moving obstacles that are the cause of all…