相关论文: ArgoTweak: Towards Self-Updating HD Maps through S…
Modern heterogeneous systems consist of many different processing units, such as CPUs, GPUs, FPGAs and AI units. A central problem in the design of applications in this environment is to find a beneficial mapping of tasks to processing…
In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…
Historical geologic maps contain rich geospatial information, such as rock units, faults, folds, and bedding planes, that is critical for assessing mineral resources essential to renewable energy, electric vehicles, and national security.…
Temporal information is crucial for visual tracking, but existing multi-frame trackers are vulnerable to model drift caused by naively aggregating noisy historical predictions. In this paper, we introduce DTPTrack, a lightweight and…
A fundamental problem in robotic perception is matching identical objects or data, with applications such as loop closure detection, place recognition, object tracking, and map fusion. While the problem becomes considerably more challenging…
This paper considers image change detection with only a small number of samples, which is a significant problem in terms of a few annotations available. A major impediment of image change detection task is the lack of large annotated…
Trajectory planning in unstructured environments is a fundamental and challenging capability for mobile robots. Traditional modular pipelines suffer from latency and cascading errors across perception, localization, mapping, and planning…
Recently, stereo vision based on lightweight RGBD cameras has been widely used in various fields. However, limited by the imaging principles, the commonly used RGB-D cameras based on TOF, structured light, or binocular vision acquire some…
We introduce Corrupted Image Modeling (CIM) for self-supervised visual pre-training. CIM uses an auxiliary generator with a small trainable BEiT to corrupt the input image instead of using artificial [MASK] tokens, where some patches are…
Despite remarkable advances in image-driven stereo matching over the past decade, Synthetic-to-Realistic Zero-Shot (Syn-to-Real) generalization remains an open challenge. This suboptimal generalization performance mainly stems from…
Point cloud completion aims to reconstruct complete 3D shapes from partial observations, which is a challenging problem due to severe occlusions and missing geometry. Despite recent advances in multimodal techniques that leverage…
Synthetic image datasets offer unmatched advantages for designing and evaluating deep neural networks: they make it possible to (i) render as many data samples as needed, (ii) precisely control each scene and yield granular ground truth…
Blind face restoration aims at recovering high-quality face images from those with unknown degradations. Current algorithms mainly introduce priors to complement high-quality details and achieve impressive progress. However, most of these…
Thousands of scanned historical topographic maps contain valuable information covering long periods of time, such as how the hydrography of a region has changed over time. Efficiently unlocking the information in these maps requires…
The construction of online vectorized High-Definition (HD) maps is critical for downstream prediction and planning. Recent efforts have built strong baselines for this task, however, shapes and relations of instances in urban road systems…
High-definition (HD) maps are core artifacts for automated driving systems, but their generation commonly relies on sensor-intensive mobile mapping campaigns, while quality assessment often depends on high-precision reference data. These…
Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…
Joint super-resolution and inverse tone-mapping (SR-ITM) aims to enhance the visual quality of videos that have quality deficiencies in resolution and dynamic range. This problem arises when using 4K high dynamic range (HDR) TVs to watch a…
Vectorized HD map is essential for autonomous driving. Remarkable work has been achieved in recent years, but there are still major issues: (1) in the generation of the BEV features, single modality-based methods are of limited perception…
We contribute the Habitat Synthetic Scene Dataset, a dataset of 211 high-quality 3D scenes, and use it to test navigation agent generalization to realistic 3D environments. Our dataset represents real interiors and contains a diverse set of…