相关论文: Robustifying 3D Perception via Least-Squares Graph…

Multi-object tracking is a cornerstone capability of any robotic system. The quality of tracking is largely dependent on the quality of the detector used. In many applications, such as autonomous vehicles, it is preferable to over-detect…

A new algorithm for 3D localization in multiplatform radar networks, comprising one transmitter and multiple receivers, is proposed. To take advantage of the monostatic sensor radiation pattern features, ad-hoc constraints are imposed in…

LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…

Adversarial attacks play a pivotal role in testing and improving the reliability of deep learning (DL) systems. Existing literature has demonstrated that subtle perturbations to the input can elicit erroneous outcomes, thereby substantially…

Autonomous vehicles (AVs) increasingly use DNN-based object detection models in vision-based perception. Correct detection and classification of obstacles is critical to ensure safe, trustworthy driving decisions. Adversarial patches aim to…

3D object detection is one of the most important tasks for the perception systems of autonomous vehicles. With the significant success in the field of 2D object detection, several monocular image based 3D object detection algorithms have…

Visual place recognition is an important subproblem of mobile robot localization. Since it is a special case of image retrieval, the basic source of information is the pairwise similarity of image descriptors. However, the embedding of the…

This article describes a multi-modal method using simulated Lidar data via ray tracing and image pixel loss with differentiable rendering to optimize an object's position with respect to an observer or some referential objects in a computer…

3D object detection is an important task, especially in the autonomous driving application domain. However, it is challenging to support the real-time performance with the limited computation and memory resources on edge-computing devices…

Micro-aerial vehicles (MAVs) are becoming ubiquitous across multiple industries and application domains. Lightweight MAVs with only an onboard flight controller and a minimal sensor suite (e.g., IMU, vision, and vertical ranging sensors)…

Monocular 3D object detection (M3OD) has long faced challenges due to data scarcity caused by high annotation costs and inherent 2D-to-3D ambiguity. Although various weakly supervised methods and pseudo-labeling methods have been proposed…

Multi-agent exploration of a bounded 3D environment with unknown initial positions of agents is a challenging problem. It requires quickly exploring the environments as well as robustly merging the sub-maps built by the agents. We take the…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

This paper investigates the resilience of perception-based multi-robot coordination with wireless communication to online adversarial perception. A systematic study of this problem is essential for many safety-critical robotic applications…

Growing at a fast pace, modern autonomous systems will soon be deployed at scale, opening up the possibility for cooperative multi-agent systems. Sharing information and distributing workloads allow autonomous agents to better perform tasks…

Recent advancements in Vehicle-to-Everything communication technology have enabled autonomous vehicles to share sensory information to obtain better perception performance. With the rapid growth of autonomous vehicles and intelligent…

In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…

Graph learning plays a central role in many data mining and machine learning tasks, such as manifold learning, data representation and analysis, dimensionality reduction, clustering, and visualization. In this work, we propose a highly…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

Adversarial attacks in 3D environments have emerged as a critical threat to the reliability of visual perception systems, particularly in safety-sensitive applications such as identity verification and autonomous driving. These attacks…