相关论文: S-BEVLoc: BEV-based Self-supervised Framework for …
Cross-view geo-localization confronts significant challenges due to large perspective changes, especially when the ground-view query image has a limited field of view with unknown orientation. To bridge the cross-view domain gap, we for the…
Image-based localization in GNSS-denied environments is critical for UAV autonomy. Existing state-of-the-art approaches rely on matching UAV images to geo-referenced satellite images; however, they typically require large-scale, paired…
This paper introduces self-taught object localization, a novel approach that leverages deep convolutional networks trained for whole-image recognition to localize objects in images without additional human supervision, i.e., without using…
We propose a vision-based method that localizes a ground vehicle using publicly available satellite imagery as the only prior knowledge of the environment. Our approach takes as input a sequence of ground-level images acquired by the…
In autonomous driving, place recognition is critical for global localization in GPS-denied environments. LiDAR and radar-based place recognition methods have garnered increasing attention, as LiDAR provides precise ranging, whereas radar…
We present NeuSE, a novel Neural SE(3)-Equivariant Embedding for objects, and illustrate how it supports object SLAM for consistent spatial understanding with long-term scene changes. NeuSE is a set of latent object embeddings created from…
3D Lane detection plays an important role in autonomous driving. Recent advances primarily build Birds-Eye-View (BEV) feature from front-view (FV) images to perceive 3D information of Lane more effectively. However, constructing accurate…
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
Applying pseudo labeling techniques has been found to be advantageous in semi-supervised 3D object detection (SSOD) in Bird's-Eye-View (BEV) for autonomous driving, particularly where labeled data is limited. In the literature, Exponential…
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…
Camera relocalization, a cornerstone capability of modern computer vision, accurately determines a camera's position and orientation (6-DoF) from images and is essential for applications in augmented reality (AR), mixed reality (MR),…
Road intersection monitoring and control research often utilize bird's eye view (BEV) simulators. In real traffic settings, achieving a BEV akin to that in a simulator necessitates the deployment of drones or specific sensor mounting, which…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
More and more research works fuse the LiDAR and camera information to improve the 3D object detection of the autonomous driving system. Recently, a simple yet effective fusion framework has achieved an excellent detection performance,…
This paper proposes \textit{Contour Context}, a simple, effective, and efficient topological loop closure detection pipeline with accurate 3-DoF metric pose estimation, targeting the urban utonomous driving scenario. We interpret the…
The monocular visual-inertial system (VINS), which consists one camera and one low-cost inertial measurement unit (IMU), is a popular approach to achieve accurate 6-DOF state estimation. However, such locally accurate visual-inertial…
Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…
Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…
Accurate and robust multimodal multi-task perception is crucial for modern autonomous driving systems. However, current multimodal perception research follows independent paradigms designed for specific perception tasks, leading to a lack…
With the maturity of Artificial Intelligence (AI) technology, Large Scale Visual Geo-Localization (LSVGL) is increasingly important in urban computing, where the task is to accurately and efficiently recognize the geo-location of a given…