相关论文: Pole-Image: A Self-Supervised Pole-Anchored Descri…

This paper introduces a novel self-supervised learning framework for enhancing 3D perception in autonomous driving scenes. Specifically, our approach, namely NCLR, focuses on 2D-3D neural calibration, a novel pretext task that estimates the…

Highly automated driving functions currently often rely on a-priori knowledge from maps for planning and prediction in complex scenarios like cities. This makes map-relative localization an essential skill. In this paper, we address the…

Determining the state of a mobile robot is an essential building block of robot navigation systems. In this paper, we address the problem of estimating the robots pose in an indoor environment using 2D LiDAR data and investigate how modern…

Various autonomous applications rely on recognizing specific known landmarks in their environment. For example, Simultaneous Localization And Mapping (SLAM) is an important technique that lays the foundation for many common tasks, such as…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…

In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…

Deep neural networks can model images with rich latent representations, but they cannot naturally conceptualize structures of object categories in a human-perceptible way. This paper addresses the problem of learning object structures in an…

Detecting road features is a key enabler for autonomous driving and localization. For instance, a reliable detection of poles which are widespread in road environments can improve localization. Modern deep learning-based perception systems…

Point clouds are a fundamental representation for robotic perception tasks such as localization, mapping, and object pose estimation. However, LiDAR-acquired point clouds are inherently sparse and non-uniform, providing incomplete…

This paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Traditional LiDAR Simultaneous Localization and Mapping (SLAM)…

Accurate and robust localization and mapping are essential components for most autonomous robots. In this paper, we propose a SLAM system for building globally consistent maps, called PIN-SLAM, that is based on an elastic and compact…

Pole-like landmark has received increasing attention as a domain-invariant visual cue for visual robot self-localization across domains (e.g., seasons, times of day, weathers). However, self-localization using pole-like landmarks can be…

Accurate localisation is critical for mobile robots in structured outdoor environments, yet LiDAR-based methods often fail in vineyards due to repetitive row geometry and perceptual aliasing. We propose a semantic particle filter that…

The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

The growing popularity of autonomous systems creates a need for reliable and efficient metric pose retrieval algorithms. Currently used approaches tend to rely on nearest neighbor search of binary descriptors to perform the 2D-3D matching…

Poles and building edges are frequently observable objects on urban roads, conveying reliable hints for various computer vision tasks. To repetitively extract them as features and perform association between discrete LiDAR frames for…

Automotive self-localization is an essential task for any automated driving function. This means that the vehicle has to reliably know its position and orientation with an accuracy of a few centimeters and degrees, respectively. This paper…

Within the past decade, the rise of applications based on artificial intelligence (AI) in general and machine learning (ML) in specific has led to many significant contributions within different domains. The applications range from robotics…

Simultaneous localization and mapping (SLAM) has been a hot research field in the past years. Against the backdrop of more affordable 3D LiDAR sensors, research on 3D LiDAR SLAM is becoming increasingly popular. Furthermore, the…