相关论文: EdgeLPR: On the Deep Neural Network trade-off betw…

Place recognition is an important task within autonomous navigation, involving the re-identification of previously visited locations from an initial traverse. Unlike visual place recognition (VPR), LiDAR place recognition (LPR) is tolerant…

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…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

In autonomous driving, place recognition is critical for global localization in GPS-denied environments. LiDAR and radar-based place recognition methods have garnered increasing attention, as LiDAR provides precise ranging, whereas radar…

Deep neural networks have proven increasingly important for automotive scene understanding with new algorithms offering constant improvements of the detection performance. However, there is little emphasis on experiences and needs for…

Backpropagation has been the cornerstone of neural network training for decades, yet its inefficiencies in time and energy consumption limit its suitability for resource-constrained edge devices. While low-precision neural network…

LiDAR-based place recognition (LPR) plays a pivotal role in autonomous driving, which assists Simultaneous Localization and Mapping (SLAM) systems in reducing accumulated errors and achieving reliable localization. However, existing reviews…

This paper introduces the Efficient Facial Landmark Detection (EFLD) model, specifically designed for edge devices confronted with the challenges related to power consumption and time latency. EFLD features a lightweight backbone and a…

LiDAR-based Place Recognition (LPR) remains a critical task in Embodied Artificial Intelligence (AI) and Autonomous Driving, primarily addressing localization challenges in GPS-denied environments and supporting loop closure detection.…

An optimal solution to the localization problem is essential for developing autonomous robotic systems. Apart from autonomous vehicles, precision agriculture is one of the elds that can bene t most from these systems. Although LiDAR place…

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…

LIDAR 3D object detection is one of the important tasks for autonomous vehicles. Ensuring that this task operates in real-time is crucial. Toward this, model quantization can be used to accelerate the runtime. However, directly applying…

In this paper, we present a comprehensive study on the utility of deep convolutional neural networks with two state-of-the-art pooling layers which are placed after convolutional layers and fine-tuned in an end-to-end manner for visual…

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…

Event cameras offer high-temporal-resolution sensing that remains reliable under high-speed motion and challenging lighting, making them promising for localization from LiDAR point clouds in GPS-denied and visually degraded environments.…

Deploying deep neural networks on edge devices is often limited by the memory traffic and compute cost of dense linear operators. While quaternion neural networks improve parameter efficiency by coupling multiple channels through Hamilton…

Place recognition is essential for achieving closed-loop or global positioning in autonomous vehicles and mobile robots. Despite recent advancements in place recognition using 2D cameras or 3D LiDAR, it remains to be seen how to use 4D…

This paper explores the performance of Google's Edge TPU on feed forward neural networks. We consider Edge TPU as a hardware platform and explore different architectures of deep neural network classifiers, which traditionally has been a…

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…