相关论文: A Hybrid Autoencoder for Robust Heightmap Generati…

Large-scale incremental mapping is fundamental to the development of robust and reliable autonomous systems, as it underpins incremental environmental understanding with sequential inputs for navigation and decision-making. LiDAR is widely…

The embodied intelligence bridges the physical world and information space. As its typical physical embodiment, humanoid robots have shown great promise through robot learning algorithms in recent years. In this study, a hardware platform,…

The fusion of multimodal sensor streams, such as camera, lidar, and radar measurements, plays a critical role in object detection for autonomous vehicles, which base their decision making on these inputs. While existing methods exploit…

In computer vision and image processing tasks, image fusion has evolved into an attractive research field. However, recent existing image fusion methods are mostly built on pixel-level operations, which may produce unacceptable artifacts…

We study how autonomous robots can learn by themselves to improve their depth estimation capability. In particular, we investigate a self-supervised learning setup in which stereo vision depth estimates serve as targets for a convolutional…

This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…

Accurate traffic congestion classification requires models that jointly capture roadway scene context and non-stationary traffic motion, yet most prior work treats these requirements in isolation. Vision-based methods often depend on…

LiDAR-camera extrinsic calibration (LCEC) is crucial for multi-modal data fusion in autonomous robotic systems. Existing methods, whether target-based or target-free, typically rely on customized calibration targets or fixed scene types,…

Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…

The combination of range sensors with color cameras can be very useful for robot navigation, semantic perception, manipulation, and telepresence. Several methods of combining range- and color-data have been investigated and successfully…

This paper extends LiDAR-BIND, a modular multi-modal fusion framework that binds heterogeneous sensors (radar, sonar) to a LiDAR-defined latent space, with mechanisms that explicitly enforce temporal consistency. We introduce three…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

Achieving high-quality High Dynamic Range (HDR) imaging on resource-constrained edge devices is a critical challenge in computer vision, as its performance directly impacts downstream tasks such as intelligent surveillance and autonomous…

In this work, we propose the LiDAR Road-Atlas, a compactable and efficient 3D map representation, for autonomous robot or vehicle navigation in general urban environment. The LiDAR Road-Atlas can be generated by an online mapping framework…

We present Multi-Layer Intensity Map, a novel 3D object representation for robot perception and autonomous navigation. Intensity maps consist of multiple stacked layers of 2D grid maps each derived from reflected point cloud intensities…

This paper addresses the problem of accurate localization for quadrupedal robots operating in narrow tunnel-like environments. Due to the long and homogeneous characteristics of such scenarios, LiDAR measurements often provide weak…

Beam prediction is critical for reducing beam-training overhead in millimeter-wave (mmWave) systems, especially in high-mobility vehicular scenarios. This paper presents a BEV-Fusion based framework that unifies camera, LiDAR, radar, and…

Reliable dynamic object detection in cluttered environments remains a critical challenge for autonomous navigation. Purely geometric LiDAR pipelines that rely on clustering and heuristic filtering can miss dynamic obstacles when they move…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…

State-of-the-art LiDAR-camera 3D object detectors usually focus on feature fusion. However, they neglect the factor of depth while designing the fusion strategy. In this work, we are the first to observe that different modalities play…