相关论文: MPTF-Net: Multi-view Pyramid Transformer Fusion Ne…

In this paper, we propose M$^2$BEV, a unified framework that jointly performs 3D object detection and map segmentation in the Birds Eye View~(BEV) space with multi-camera image inputs. Unlike the majority of previous works which separately…

In this paper we reexamine the process through which a Neural Radiance Field (NeRF) can be trained to produce novel LiDAR views of a scene. Unlike image applications where camera pixels integrate light over time, LiDAR pulses arrive at…

Accurate and robust multimodal multi-task perception is crucial for modern autonomous driving systems. However, current multimodal perception research follows independent paradigms designed for specific perception tasks, leading to a lack…

Loop-closure detection, also known as place recognition, aiming to identify previously visited locations, is an essential component of a SLAM system. Existing research on lidar-based loop closure heavily relies on dense point cloud and 360…

In advanced paradigms of autonomous driving, learning Bird's Eye View (BEV) representation from surrounding views is crucial for multi-task framework. However, existing methods based on depth estimation or camera-driven attention are not…

We present an application of Physics-Informed Neural Networks to handle MultiPhase-Field simulations of microstructure evolution. It has been showcased that a combination of optimization techniques extended and adapted from the PINNs…

Accurate 3D object detection for autonomous driving requires complementary sensors. Cameras provide dense semantics but unreliable depth, while millimeter-wave radar offers precise range and velocity measurements with sparse geometry. We…

Ensuring accurate localization of robots in environments without GPS capability is a challenging task. Visual Place Recognition (VPR) techniques can potentially achieve this goal, but existing RGB-based methods are sensitive to changes in…

Recently spatial pyramid matching (SPM) with scale invariant feature transform (SIFT) descriptor has been successfully used in image classification. Unfortunately, the codebook generation and feature quantization procedures using SIFT…

Feature pyramid networks (FPN) are widely exploited for multi-scale feature fusion in existing advanced object detection frameworks. Numerous previous works have developed various structures for bidirectional feature fusion, all of which…

Visual place recognition is a challenging task for applications such as autonomous driving navigation and mobile robot localization. Distracting elements presenting in complex scenes often lead to deviations in the perception of visual…

Loop closing and relocalization are crucial techniques to establish reliable and robust long-term SLAM by addressing pose estimation drift and degeneration. This article begins by formulating loop closing and relocalization within a unified…

Vision Transformer and its variants have demonstrated great potential in various computer vision tasks. But conventional vision transformers often focus on global dependency at a coarse level, which suffer from a learning challenge on…

In recent years, encoder-decoder networks have focused on expanding receptive fields and incorporating multi-scale context to capture global features for objects of varying sizes. However, as networks deepen, they often discard fine spatial…

Place recognition is the foundation for enabling autonomous systems to achieve independent decision-making and safe operations. It is also crucial in tasks such as loop closure detection and global localization within SLAM. Previous methods…

Low-overhead visual place recognition (VPR) is a highly active research topic. Mobile robotics applications often operate under low-end hardware, and even more hardware capable systems can still benefit from freeing up onboard system…

Multi-frame infrared small target detection (IRSTD) plays a crucial role in low-altitude and maritime surveillance. The hybrid architecture combining CNNs and Transformers shows great promise for enhancing multi-frame IRSTD performance. In…

Image pyramids are widely adopted in top-performing methods to obtain multi-scale features for precise visual perception and understanding. However, current image pyramids use the same large-scale model to process multiple resolutions of…

LiDAR-based place recognition is one of the key components of SLAM and global localization in autonomous vehicles and robotics applications. With the success of DL approaches in learning useful information from 3D LiDARs, place recognition…

Visual place recognition (VPR) aims to determine the general geographical location of a query image by retrieving visually similar images from a large geo-tagged database. To obtain a global representation for each place image, most…