相关论文: Enhancing Inverse Perspective Mapping for Automati…

Converting raster floorplans into engineering-grade vector graphics is challenging due to complex topology and strict geometric constraints. To address this, we present FloorplanVLM, a unified framework that reformulates floorplan…

In autonomous driving, high-definition (HD) maps and semantic maps in bird's-eye view (BEV) are essential for accurate localization, planning, and decision-making. This paper introduces an enhanced End-to-End model named MapFM for online…

We present a topology-informed inverse rendering approach for reconstructing high-genus surface meshes from multi-view images. Compared to 3D representations like voxels and point clouds, mesh-based representations are preferred as they…

This work presents a novel data-driven path planning algorithm named Instruction-Guided Probabilistic Roadmap (IG-PRM). Despite the recent development and widespread use of mobile robot navigation, the safe and effective travels of mobile…

We develop a new interior-point method (IPM) for symmetric-cone optimization, a common generalization of linear, second-order-cone, and semidefinite programming. In contrast to classical IPMs, we update iterates with a geodesic of the cone…

For robust visual-inertial SLAM in perceptually-challenging indoor environments,recent studies exploit line features to extract descriptive information about scene structure to deal with the degeneracy of point features. But existing…

Perspective distortion (PD) leads to substantial alterations in the shape, size, orientation, angles, and spatial relationships of visual elements in images. Accurately determining camera intrinsic and extrinsic parameters is challenging,…

Vectorized high-definition map online construction has garnered considerable attention in the field of autonomous driving research. Most existing approaches model changeable map elements using a fixed number of points, or predict local maps…

This paper proposes Inverse Gram Matrix (IGM) methods to prioritize the Pairwise Reciprocal Matrix (PRM) in the Analytic Hierarchy Process. The IGM methods include Pseudo-IGM, Normalized-IGM, and Lagrange-IGM. Interestingly, the proposed…

Smart city research envisions a future in which data-driven solutions and sustainable infrastructure work together to define urban living at the crossroads of urbanization and technology. Within this framework, smart parking systems play an…

This paper introduces an efficient Vision-Language Model (VLM) pipeline specifically optimized for deployment on embedded devices, such as those used in robotics and autonomous driving. The pipeline significantly reduces the computational…

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…

We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…

Image super-resolution (SR) is an underdetermined inverse problem, where a large number of plausible high-resolution images can explain the same downsampled image. Most current single image SR methods use empirical risk minimisation, often…

We revisit and advance visual prompting (VP), an input prompting technique for vision tasks. VP can reprogram a fixed, pre-trained source model to accomplish downstream tasks in the target domain by simply incorporating universal prompts…

For many applications in signal processing and machine learning, we are tasked with minimizing a large sum of convex functions subject to a large number of convex constraints. In this paper, we devise a new random projection method (RPM) to…

Autonomous driving systems require High-Definition (HD) semantic maps to navigate around urban roads. Existing solutions approach the semantic mapping problem by offline manual annotation, which suffers from serious scalability issues.…

Linear programming (LP) is an extremely useful tool which has been successfully applied to solve various problems in a wide range of areas, including operations research, engineering, economics, or even more abstract mathematical areas such…

Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…

This paper proposes a projection-based implicit modeling method (PIMM) for functionally graded lattice optimization, which does not require any homogenization techniques. In this method, a parametric projection function is proposed to link…