相关论文: 4DRaL: Bridging 4D Radar with LiDAR for Place Reco…

We study the problem of distilling knowledge from a large deep teacher network to a much smaller student network for the task of road marking segmentation. In this work, we explore a novel knowledge distillation (KD) approach that can…

DETR is a novel end-to-end transformer architecture object detector, which significantly outperforms classic detectors when scaling up. In this paper, we focus on the compression of DETR with knowledge distillation. While knowledge…

Simultaneous Localization and Mapping (SLAM) is moving towards a robust perception age. However, LiDAR- and visual- SLAM may easily fail in adverse conditions (rain, snow, smoke and fog, etc.). In comparison, SLAM based on 4D Radar, thermal…

Place recognition is critical for both offline mapping and online localization. However, current single-sensor based place recognition still remains challenging in adverse conditions. In this paper, a heterogeneous measurements based…

With the ever-growing complexity of models in the field of remote sensing (RS), there is an increasing demand for solutions that balance model accuracy with computational efficiency. Knowledge distillation (KD) has emerged as a powerful…

Knowledge distillation (KD) is an effective model compression method that can transfer the internal capabilities of large language models (LLMs) to smaller ones. However, the multi-modal probability distribution predicted by teacher LLMs…

Pre-trained on extensive and diverse multi-modal datasets, 2D foundation models excel at addressing 2D tasks with little or no downstream supervision, owing to their robust representations. The emergence of 2D-to-3D distillation frameworks…

Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this…

Current Vehicle-to-Everything (V2X) systems have significantly enhanced 3D object detection using LiDAR and camera data. However, these methods suffer from performance degradation in adverse weather conditions. The weather-robust 4D radar…

Knowledge distillation is a popular machine learning technique that aims to transfer knowledge from a large 'teacher' network to a smaller 'student' network and improve the student's performance by training it to emulate the teacher. In…

Long-term autonomy requires robust navigation in environments subject to dynamic and static changes, as well as adverse weather conditions. Teach-and-Repeat (T\&R) navigation offers a reliable and cost-effective solution by avoiding the…

Automotive radar systems have evolved to provide not only range, azimuth and Doppler velocity, but also elevation data. This additional dimension allows for the representation of 4D radar as a 3D point cloud. As a result, existing deep…

Model compression through knowledge distillation has seen extensive application in classification and segmentation tasks. However, its potential in image-to-image translation, particularly in image restoration, remains underexplored. To…

Knowledge distillation (KD) is a valuable yet challenging approach that enhances a compact student network by learning from a high-performance but cumbersome teacher model. However, previous KD methods for image restoration overlook the…

Semantic segmentation of 3D LiDAR data plays a pivotal role in autonomous driving. Traditional approaches rely on extensive annotated data for point cloud analysis, incurring high costs and time investments. In contrast, realworld image…

Knowledge distillation facilitates the training of a compact student network by using a deep teacher one. While this has achieved great success in many tasks, it remains completely unstudied for image-based 6D object pose estimation. In…

Knowledge Distillation (KD) emerges as one of the most promising compression technologies to run advanced deep neural networks on resource-limited devices. In order to train a small network (student) under the guidance of a large network…

Deploying accurate object detection for Vulnerable Road User (VRU) safety on edge hardware requires balancing model capacity against computational constraints. Large models achieve high accuracy but fail under INT8 quantization required for…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

4D radar measurements offer an affordable and weather-robust solution for 3D perception. However, the inherent sparsity and noise of radar point clouds present significant challenges for accurate 3D object detection, underscoring the need…