相关论文: NeRC: Neural Ranging Correction through Differenti…

Despite advances in object detection, aerial imagery remains a challenging domain, as models often fail to generalize across variations in spatial resolution, scene composition, and semantic label coverage. Differences in geographic…

Neural Radiance Fields (NeRF) has received much attention recently due to its impressive capability to represent 3D scene and synthesize novel view images. Existing works usually assume that the input images are captured by a global shutter…

We present Loc-NeRF, a real-time vision-based robot localization approach that combines Monte Carlo localization and Neural Radiance Fields (NeRF). Our system uses a pre-trained NeRF model as the map of an environment and can localize…

Safe navigation in cluttered environments is an important challenge for autonomous systems. Robots navigating through obstacle ridden scenarios need to be able to navigate safely in the presence of obstacles, goals, and ego objects of…

This paper addresses the problem of traversing through unknown, tilted, and narrow gaps for quadrotors using Deep Reinforcement Learning (DRL). Previous learning-based methods relied on accurate knowledge of the environment, including the…

Accurate and uncertainty-aware degradation estimation is essential for predictive maintenance in safety-critical systems like rotating machinery with rolling-element bearings. Many existing uncertainty methods lack confidence calibration,…

Neural Representations have recently been shown to effectively reconstruct a wide range of signals from 3D meshes and shapes to images and videos. We show that, when adapted correctly, neural representations can be used to directly…

In this paper, we study the application of DRL algorithms in the context of local navigation problems, in which a robot moves towards a goal location in unknown and cluttered workspaces equipped only with limited-range exteroceptive…

Neural radiance field (NeRF) enables the synthesis of cutting-edge realistic novel view images of a 3D scene. It includes density and color fields to model the shape and radiance of a scene, respectively. Supervised by the photometric loss…

Localization of autonomous mobile robots (AMRs) in enclosed or semi-enclosed environments such as offices, hotels, hospitals, indoor parking facilities, and underground spaces where GPS signals are weak or unavailable remains a major…

Deep neural networks have established as a powerful tool for large scale supervised classification tasks. The state-of-the-art performances of deep neural networks are conditioned to the availability of large number of accurately labeled…

Accurate channel state information (CSI) is a critical bottleneck in modern wireless networks, with pilot overhead consuming 11\% to 21\% of transmission bandwidth and feedback delays causing severe throughput degradation under mobility.…

An algorithm based on Artificial Neural Networks is proposed in this paper to improve the accuracy of Inertial Navigation System (INS)/ Global Navigation Satellite System (GNSS) integrated navigation during the absence of GNSS signals. The…

In this work, we propose the use of Neural Radiance Fields (NeRF) as a scene representation for visual localization. Recently, NeRF has been employed to enhance pose regression and scene coordinate regression models by augmenting the…

Generative navigation policies have made rapid progress in improving end-to-end learned navigation. Despite their promising results, this paradigm has two structural problems. First, the sampled trajectories exist in an abstract, unscaled…

We propose Neural Gradient Learning (NGL), a deep learning approach to learn gradient vectors with consistent orientation from 3D point clouds for normal estimation. It has excellent gradient approximation properties for the underlying…

Recent advances in neural rendering have enabled highly photorealistic 3D scene reconstruction and novel view synthesis. Despite this progress, current state-of-the-art methods struggle to reconstruct high frequency detail, due to factors…

Neural Radiance Field (NeRF) significantly degrades when only a limited number of views are available. To complement the lack of 3D information, depth-based models, such as DSNeRF and MonoSDF, explicitly assume the availability of accurate…

Hierarchical reinforcement learning (HRL) decomposes the policy into a manager and a worker, enabling long-horizon planning but introducing a performance gap on tasks requiring agility. We identify a root cause: in subgoal-based HRL, the…

Object Pose Estimation is a crucial component in robotic grasping and augmented reality. Learning based approaches typically require training data from a highly accurate CAD model or labeled training data acquired using a complex setup. We…