相关论文: Efficient Active Training for Deep LiDAR Odometry

We investigate active learning in the context of deep neural network models for change detection and map updating. Active learning is a natural choice for a number of remote sensing tasks, including the detection of local surface changes:…

Recently, learning-based ego-motion estimation approaches have drawn strong interest from studies mostly focusing on visual perception. These groundbreaking works focus on unsupervised learning for odometry estimation but mostly for visual…

Intelligent agents need a physical understanding of the world to predict the impact of their actions in the future. While learning-based models of the environment dynamics have contributed to significant improvements in sample efficiency…

A methodology based on deep recurrent models for maritime surveillance, over publicly available Automatic Identification System (AIS) data, is presented in this paper. The setup employs a deep Recurrent Neural Network (RNN)-based model, for…

Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…

Deep learning-based LiDAR odometry is crucial for autonomous driving and robotic navigation, yet its performance under adverse weather, especially snowfall, remains challenging. Existing models struggle to generalize across conditions due…

We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…

Accurate 3D object detection is a critical component of autonomous driving, enabling vehicles to perceive their surroundings with precision and make informed decisions. LiDAR sensors, widely used for their ability to provide detailed 3D…

Even though active learning forms an important pillar of machine learning, deep learning tools are not prevalent within it. Deep learning poses several difficulties when used in an active learning setting. First, active learning (AL)…

In recent years, deep learning-based approaches for visual-inertial odometry (VIO) have shown remarkable performance outperforming traditional geometric methods. Yet, all existing methods use both the visual and inertial measurements for…

Object detection in thermal infrared spectrum provides more reliable data source in low-lighting conditions and different weather conditions, as it is useful both in-cabin and outside for pedestrian, animal, and vehicular detection as well…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

Artificial neural networks (ANNs) require tremendous amount of data to train on. However, in classification models, most data features are often similar which can lead to increase in training time without significant improvement in the…

LiDAR-inertial odometry (LIO) plays a vital role in achieving accurate localization and mapping, especially in complex environments. However, the presence of LiDAR feature degeneracy poses a major challenge to reliable state estimation. To…

Currently, visual odometry and LIDAR odometry are performing well in pose estimation in some typical environments, but they still cannot recover the localization state at high speed or reduce accumulated drifts. In order to solve these…

LiDAR-based 3D object detectors have been largely utilized in various applications, including autonomous vehicles or mobile robots. However, LiDAR-based detectors often fail to adapt well to target domains with different sensor…

As power systems transition toward renewable-rich and inverter-dominated operations, accurate time-domain dynamic analysis becomes increasingly critical. Such analysis supports key operational tasks, including transient stability…

Accurate, robust, and real-time LiDAR-based odometry (LO) is imperative for many applications like robot navigation, globally consistent 3D scene map reconstruction, or safe motion-planning. Though LiDAR sensor is known for its precise…

We propose LiDAL, a novel active learning method for 3D LiDAR semantic segmentation by exploiting inter-frame uncertainty among LiDAR frames. Our core idea is that a well-trained model should generate robust results irrespective of…

In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed an online learning-based leg kinematics model named the…