相关论文: Efficient Active Training for Deep LiDAR Odometry

Curating an informative and representative dataset is essential for enhancing the performance of 2D object detectors. We present a novel active learning sampling strategy that addresses both the informativeness and diversity of the…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

When we can not assume a large amount of annotated data , active learning is a good strategy. It consists in learning a model on a small amount of annotated data (annotation budget) and in choosing the best set of points to annotate in…

This paper addresses the problem of accurate localization for quadrupedal robots operating in narrow tunnel-like environments. Due to the long and homogeneous characteristics of such scenarios, LiDAR measurements often provide weak…

Autonomous robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complementary sensors. IMU data constrains acceleration and rotation,…

Radar ensures robust sensing capabilities in adverse weather conditions, yet challenges remain due to its high inherent noise level. Existing radar odometry has overcome these challenges with strategies such as filtering spurious points,…

Time series anomaly detection (TSAD) is an important data mining task with numerous applications in the IoT era. In recent years, a large number of deep neural network-based methods have been proposed, demonstrating significantly better…

Conventionally, human intuition defines vision as a modality of passive optical sensing, relying on ambient light to perceive the environment. However, active optical sensing, which involves emitting and receiving signals, offers unique…

This paper presents FAST-LIO2: a fast, robust, and versatile LiDAR-inertial odometry framework. Building on a highly efficient tightly-coupled iterated Kalman filter, FAST-LIO2 has two key novelties that allow fast, robust, and accurate…

Modeling scene geometry using implicit neural representation has revealed its advantages in accuracy, flexibility, and low memory usage. Previous approaches have demonstrated impressive results using color or depth images but still have…

LiDAR odometry is a fundamental task for various areas such as robotics, autonomous driving. This problem is difficult since it requires the systems to be highly robust running in noisy real-world data. Existing methods are mostly local…

Odometry estimation is crucial for every autonomous system requiring navigation in an unknown environment. In modern mobile robots, 3D LiDAR-inertial systems are often used for this task. By fusing LiDAR scans and IMU measurements, these…

Odometry is a critical task for autonomous systems for self-localization and navigation. We propose a novel LiDAR-Visual odometry framework that integrates LiDAR point clouds and images for accurate and robust pose estimation. Our method…

When planning with an inaccurate dynamics model, a practical strategy is to restrict planning to regions of state-action space where the model is accurate: also known as a \textit{model precondition}. Empirical real-world trajectory data is…

The accuracy of the initial state, including initial velocity, gravity direction, and IMU biases, is critical for the initialization of LiDAR-inertial SLAM systems. Inaccurate initial values can reduce initialization speed or lead to…

Intrinsic image decomposition (IID) is the task that decomposes a natural image into albedo and shade. While IID is typically solved through supervised learning methods, it is not ideal due to the difficulty in observing ground truth albedo…

We aim to tackle a novel task in action detection - Online Detection of Action Start (ODAS) in untrimmed, streaming videos. The goal of ODAS is to detect the start of an action instance, with high categorization accuracy and low detection…

Recently, 4D millimetre-wave radar exhibits more stable perception ability than LiDAR and camera under adverse conditions (e.g. rain and fog). However, low-quality radar points hinder its application, especially the odometry task that…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

Unsupervised intrinsic image decomposition (IID) is the process of separating a natural image into albedo and shade without these ground truths. A recent model employing light detection and ranging (LiDAR) intensity demonstrated impressive…