相关论文: Enhancing Inverse Perspective Mapping for Automati…

Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a novel Imitating and Finetuning Model Predictive Control (IFM)…

High-definition maps (HD maps) are a key component of most modern self-driving systems due to their valuable semantic and geometric information. Unfortunately, building HD maps has proven hard to scale due to their cost as well as the…

We study optimal Multi-robot Path Planning (MPP) on graphs, in order to improve the efficiency of multi-robot system (MRS) in the warehouse-like environment. We propose a novel algorithm, OMRPP (One-way Multi-robot Path Planning) based on…

We present a novel method for visual mapping and localization for autonomous vehicles, by extracting, modeling, and optimizing semantic road elements. Specifically, our method integrates cascaded deep models to detect standardized road…

As mobile networks transition toward 5G and 6G RAN architectures, Passive Optical Networks (PONs) offer a critical solution for cost-effective fronthaul transport. However, the lack of standardized evaluation models in current literature…

The Finite element method (FEM) has long served as the computational backbone for topology optimization (TO). However, for designing structures undergoing large deformations, conventional FEM-based TO often exhibits numerical instabilities…

Given a sequence of possibly sparse and noisy GPS traces and a map of the road network, map matching algorithms can infer the most accurate trajectory on the road network. However, if the road network is wrong (for example due to missing or…

In recent years, object-oriented simultaneous localization and mapping (SLAM) has attracted increasing attention due to its ability to provide high-level semantic information while maintaining computational efficiency. Some researchers have…

Auto-Regressive (AR) models have achieved impressive results in 2D image generation by modeling joint distributions in the grid space. While this approach has been extended to the 3D domain for powerful shape generation, it still has two…

LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…

We study informative path planning (IPP) with travel budgets in cluttered environments, where an agent collects measurements of a latent field modeled as a Gaussian process (GP) to reduce uncertainty at target locations. Graph-based solvers…

Interior point methods (IPMs) are a common approach for solving linear programs (LPs) with strong theoretical guarantees and solid empirical performance. The time complexity of these methods is dominated by the cost of solving a linear…

We introduce the first method for generating Vector Displacement Maps (VDMs): parameterized, detailed geometric stamps commonly used in 3D modeling. Given a single input image, our method first generates multi-view normal maps and then…

High-definition (HD) maps are essential for autonomous driving systems. Traditionally, an expensive and labor-intensive pipeline is implemented to construct HD maps, which is limited in scalability. In recent years, crowdsourcing and online…

Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…

This paper presents a spline-based parameterisation framework for plane graphs. The plane graph is characterised by a collection of curves forming closed loops that fence-off planar faces which have to be parameterised individually. Hereby,…

High-definition (HD) map provides abundant and precise environmental information of the driving scene, serving as a fundamental and indispensable component for planning in autonomous driving system. We present MapTR, a structured end-to-end…

High-precision vectorized maps are indispensable for autonomous driving, yet traditional LiDAR-based creation is costly and slow, while single-vehicle perception methods lack accuracy and robustness, particularly in adverse conditions. This…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

Accurate environment perception is essential for automated driving. When using monocular cameras, the distance estimation of elements in the environment poses a major challenge. Distances can be more easily estimated when the camera…