相关论文: A Generalization of CLAP from 3D Localization to I…

Simultaneous Localization and Planning (SLAP) under process and measurement uncertainties is a challenge. It involves solving a stochastic control problem modeled as a Partially Observed Markov Decision Process (POMDP) in a general…

Accurate 3D object detection is critical for autonomous driving, necessitating reliable, cost-effective sensors capable of operating in adverse weather conditions. Camera and millimeter-wave radar fusion has emerged as a promising solution;…

Global Average Pooling (GAP) [4] has been used previously to generate class activation for image classification tasks. The motivation behind SIMILARnet comes from the fact that the convolutional filters possess position information of the…

Traditional clustering methods typically focus on either cluster-wise global clustering or point-wise local clustering to reveal the intrinsic structures in unlabeled data. Global clustering optimizes an objective function to explore the…

We present a simple yet effective method to address loop closure detection in simultaneous localisation and mapping using local 3D deep descriptors (L3Ds). L3Ds are emerging compact representations of patches extracted from point clouds…

We present new results for LambdaCC and MotifCC, two recently introduced variants of the well-studied correlation clustering problem. Both variants are motivated by applications to network analysis and community detection, and have…

Place classification is a fundamental ability that a robot should possess to carry out effective human-robot interactions. It is a nontrivial classification problem which has attracted many research. In recent years, there is a high…

The safe application of reinforcement learning (RL) requires generalization from limited training data to unseen scenarios. Yet, fulfilling tasks under changing circumstances is a key challenge in RL. Current state-of-the-art approaches for…

The location of a robot is a key aspect in the field of mobile robotics. This problem is particularly complex when the initial pose of the robot is unknown. In order to find a solution, it is necessary to perform a global localization. In…

Clustering aims to group unlabeled objects based on similarity inherent among them into clusters. It is important for many tasks such as anomaly detection, database sharding, record linkage, and others. Some clustering methods are taken as…

Clustering is a fundamental task in both machine learning and data mining. Among various methods, edge-colored clustering (ECC) has emerged as a useful approach for handling categorical data. Given a hypergraph with (hyper)edges labeled by…

We present GSLoc: a new visual localization method that performs dense camera alignment using 3D Gaussian Splatting as a map representation of the scene. GSLoc backpropagates pose gradients over the rendering pipeline to align the rendered…

Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…

This paper introduces a modular, non-deep learning method for filtering and refining sparse correspondences in image matching. Assuming that motion flow within the scene can be approximated by local homography transformations, matches are…

Leveraging pre-trained 2D image representations in behavior cloning policies has achieved great success and has become a standard approach for robotic manipulation. However, such representations fail to capture the 3D spatial information…

Simultaneous Localization and Mapping (SLAM) is a critical task in robotics, enabling systems to autonomously navigate and understand complex environments. Current SLAM approaches predominantly rely on geometric cues for mapping and…

This study presents an approach to lane detection involving the prediction of binary segmentation masks and per-pixel affinity fields. These affinity fields, along with the binary masks, can then be used to cluster lane pixels horizontally…

An open question in deep clustering is how to understand what in the image is creating the cluster assignments. This visual understanding is essential to be able to trust the results of an inherently complex algorithm like deep learning,…

Building large-scale, globally consistent maps is a challenging problem, made more difficult in environments with limited access, sparse features, or when using data collected by novice users. For such scenarios, where state-of-the-art…

Both generative learning and discriminative learning have recently witnessed remarkable progress using Deep Neural Networks (DNNs). For structured input synthesis and structured output prediction problems (e.g., layout-to-image synthesis…