相关论文: Efficient Active Training for Deep LiDAR Odometry

In this paper, we introduce IDOL, an optimization-based framework for IMU-DVS Odometry using Lines. Event cameras, also called Dynamic Vision Sensors (DVSs), generate highly asynchronous streams of events triggered upon illumination changes…

Deep neural networks can be easily fooled into making incorrect predictions through corruption of the input by adversarial perturbations: human-imperceptible artificial noise. So far adversarial training has been the most successful defense…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

In a world of global trading, maritime safety, security and efficiency are crucial issues. We propose a multi-task deep learning framework for vessel monitoring using Automatic Identification System (AIS) data streams. We combine recurrent…

Automated skin lesion analysis is very crucial in clinical practice, as skin cancer is among the most common human malignancy. Existing approaches with deep learning have achieved remarkable performance on this challenging task, however,…

Currently, the improvement of LiDAR poses estimation accuracy is an urgent need for mobile robots. Research indicates that diverse LiDAR points have different influences on the accuracy of pose estimation. This study aimed to select a good…

Intrusion Detection Systems (IDS) are critical components in safeguarding 5G/6G networks from both internal and external cyber threats. While traditional IDS approaches rely heavily on signature-based methods, they struggle to detect novel…

We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in…

Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…

Ireland's coastline, a critical and dynamic resource, is facing challenges such as erosion, sedimentation, and human activities. Monitoring these changes is a complex task we approach using a combination of satellite imagery and deep…

Safety of the Intended Functionality (SOTIF) addresses sensor performance limitations and deep learning-based object detection insufficiencies to ensure the intended functionality of Automated Driving Systems (ADS). This paper presents a…

In this work, we introduce a novel method for solving the set inversion problem by formulating it as a binary classification problem. Aiming to develop a fast algorithm that can work effectively with high-dimensional and computationally…

Recent advances in autonomous driving have underscored the importance of accurate 3D object detection, with LiDAR playing a central role due to its robustness under diverse visibility conditions. However, different vehicle platforms often…

Open-world Instance Segmentation (OIS) is a challenging task that aims to accurately segment every object instance appearing in the current observation, regardless of whether these instances have been labeled in the training set. This is…

Simultaneous Localization and Mapping (SLAM) is considered to be an essential capability for intelligent vehicles and mobile robots. However, most of the current lidar SLAM approaches are based on the assumption of a static environment.…

Extensive research efforts have been dedicated to deep learning based odometry. Nonetheless, few efforts are made on the unsupervised deep lidar odometry. In this paper, we design a novel framework for unsupervised lidar odometry with the…

Advancing Machine Learning (ML)-based perception models for autonomous systems necessitates addressing weak spots within the models, particularly in challenging Operational Design Domains (ODDs). These are environmental operating conditions…

LiDAR semantic segmentation frameworks predominantly use geometry-based features to differentiate objects within a scan. Although these methods excel in scenarios with clear boundaries and distinct shapes, their performance declines in…

Existing learning methods for LiDAR-based applications use 3D points scanned under a pre-determined beam configuration, e.g., the elevation angles of beams are often evenly distributed. Those fixed configurations are task-agnostic, so…

We introduce a novel method for odometry estimation using convolutional neural networks from 3D LiDAR scans. The original sparse data are encoded into 2D matrices for the training of proposed networks and for the prediction. Our networks…