相关论文: Efficient Active Training for Deep LiDAR Odometry

Localization in 5G and 6G networks is essential for important use cases such as intelligent transportation, smart factories, and smart cities. Although deep learning has enabled improving localization accuracy, depending on the deployment…

This paper presents a fast lidar-inertial odometry (LIO) that is robust to aggressive motion. To achieve robust tracking in aggressive motion scenes, we exploit the continuous scanning property of lidar to adaptively divide the full scan…

LiDAR odometry (LO) describes the task of finding an alignment of subsequent LiDAR point clouds. This alignment can be used to estimate the motion of the platform where the LiDAR sensor is mounted on. Currently, on the well-known KITTI…

Tunnels and long corridors are challenging environments for mobile robots because a LiDAR point cloud should degenerate in these environments. To tackle point cloud degeneration, this study presents a tightly-coupled LiDAR-IMU-wheel…

An efficient 3D point cloud learning architecture, named EfficientLO-Net, for LiDAR odometry is first proposed in this paper. In this architecture, the projection-aware representation of the 3D point cloud is proposed to organize the raw 3D…

Deploying deep learning on Synthetic Aperture Radar (SAR) data is becoming more common for mapping purposes. One such case is sea ice, which is highly dynamic and rapidly changes as a result of the combined effect of wind, temperature, and…

Anomaly detection is increasingly important to handle the amount of sensor data in Edge and Fog environments, Smart Cities, as well as in Industry 4.0. To ensure good results, the utilized ML models need to be updated periodically to adapt…

Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…

Existing LiDAR-Inertial Odometry (LIO) methods typically utilize the prior trajectory derived from the IMU integration to compensate for the motion distortion within LiDAR frames. However, discrepancies between the prior and true trajectory…

3D object detection is fundamentally important for various emerging applications, including autonomous driving and robotics. A key requirement for training an accurate 3D object detector is the availability of a large amount of LiDAR-based…

Odometry is crucial for robot navigation, particularly in situations where global positioning methods like global positioning system (GPS) are unavailable. The main goal of odometry is to predict the robot's motion and accurately determine…

This article aims to reduce huge pilot overhead when estimating the reconfigurable intelligent surface (RIS) relayed wireless channel. Motivated by the compelling grasp of deep learning in tackling nonlinear mapping problems, the proposed…

Synthetic aperture sonar (SAS) systems produce high-resolution images of the seabed environment. Moreover, deep learning has demonstrated superior ability in finding robust features for automating imagery analysis. However, the success of…

Deep learning-based detection networks have made remarkable progress in autonomous driving systems (ADS). ADS should have reliable performance across a variety of ambient lighting and adverse weather conditions. However, luminance…

Reliable, drift-free global localization presents significant challenges yet remains crucial for autonomous navigation in large-scale dynamic environments. In this paper, we introduce a tightly-coupled Semantic-LiDAR-Inertial-Wheel Odometry…

Previous work optimizes traditional active learning (AL) processes with incremental neural network architecture search (Active-iNAS) based on data complexity change, which improves the accuracy and learning efficiency. However, Active-iNAS…

Accurate moving object segmentation is an essential task for autonomous driving. It can provide effective information for many downstream tasks, such as collision avoidance, path planning, and static map construction. How to effectively…

This study proposes an adaptive data-driven hyperparameter tuning framework for black-box 3D LiDAR odometry algorithms. The proposed framework comprises offline parameter-error function modeling and online adaptive parameter selection. In…

Employing large intelligent surfaces (LISs) is a promising solution for improving the coverage and rate of future wireless systems. These surfaces comprise a massive number of nearly-passive elements that interact with the incident signals,…

Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against those challenges. Our method starts with activation of a mapping…