相关论文: LoopNet: A Multitasking Few-Shot Learning Approach…

Simultaneous Localization and Mapping (SLAM) stands as one of the critical challenges in robot navigation. A SLAM system often consists of a front-end component for motion estimation and a back-end system for eliminating estimation drifts.…

Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…

Few-shot Learning (FSL) which aims to learn from few labeled training data is becoming a popular research topic, due to the expensive labeling cost in many real-world applications. One kind of successful FSL method learns to compare the…

Visual simultaneous localization and mapping (SLAM) must remain accurate under extreme viewpoint, scale and illumination variations. The widely adopted ORB-SLAM3 falters in these regimes because it relies on hand-crafted ORB keypoints. We…

We propose a new method that uses deep learning techniques to solve the inverse problems. The inverse problem is cast in the form of learning an end-to-end mapping from observed data to the ground-truth. Inspired by the splitting strategy…

Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is…

Visual Simultaneous Localization and Mapping (VSLAM) research faces significant challenges due to fragmented toolchains, complex system configurations, and inconsistent evaluation methodologies. To address these issues, we present…

An accurate and computationally efficient SLAM algorithm is vital for modern autonomous vehicles. To make a lightweight the algorithm, most SLAM systems rely on feature detection from images for vision SLAM or point cloud for laser-based…

In real-world applications, data do not reflect the ones commonly used for neural networks training, since they are usually few, unlabeled and can be available as a stream. Hence many existing deep learning solutions suffer from a limited…

Reliable loop closure detection remains a critical challenge in 3D LiDAR-based SLAM, especially under sensor noise, environmental ambiguity, and viewpoint variation conditions. RANSAC is often used in the context of loop closures for…

Few-shot learning is the process of learning novel classes using only a few examples and it remains a challenging task in machine learning. Many sophisticated few-shot learning algorithms have been proposed based on the notion that networks…

Generative Flow Networks (GFlowNets), a new family of probabilistic samplers, have demonstrated remarkable capabilities to generate diverse sets of high-reward candidates, in contrast to standard return maximization approaches (e.g.,…

Learning with few labeled data is a key challenge for visual recognition, as deep neural networks tend to overfit using a few samples only. One of the Few-shot learning methods called metric learning addresses this challenge by first…

Few-shot meta-learning methods consider the problem of learning new tasks from a small, fixed number of examples, by meta-learning across static data from a set of previous tasks. However, in many real world settings, it is more natural to…

A robust visual localization and mapping system is essential for warehouse robot navigation, as cameras offer a more cost-effective alternative to LiDAR sensors. However, existing forward-facing camera systems often encounter challenges in…

One-shot image classification aims to train image classifiers over the dataset with only one image per category. It is challenging for modern deep neural networks that typically require hundreds or thousands of images per class. In this…

When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…

Few-shot segmentation aims to segment unseen-class objects given only a handful of densely labeled samples. Prototype learning, where the support feature yields a singleor several prototypes by averaging global and local object information,…

Determining the position and orientation of a sensor vis-a-vis its surrounding, while simultaneously mapping the environment around that sensor or simultaneous localization and mapping is quickly becoming an important advancement in…

Deep neural networks have exhibited promising performance in image super-resolution (SR) by learning a nonlinear mapping function from low-resolution (LR) images to high-resolution (HR) images. However, there are two underlying limitations…