相关论文: Beyond Chamfer Distance: Granular Order-aware Eval…

We propose an algorithm to (i) learn online a deep signed distance function (SDF) with a LiDAR-equipped robot to represent the 3D environment geometry, and (ii) plan collision-free trajectories given this deep learned map. Our algorithm…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…

The proper orthogonal decomposition (POD) -- a popular projection-based model order reduction (MOR) method -- may require significant model dimensionalities to successfully capture a nonlinear solution manifold resulting from a…

Optimising a ranking-based metric, such as Average Precision (AP), is notoriously challenging due to the fact that it is non-differentiable, and hence cannot be optimised directly using gradient-descent methods. To this end, we introduce an…

Orthogonal time-frequency space (OTFS) has been confirmed to take advantage of full time-frequency diversity to significantly improve error performance in high-mobility scenarios. We found that the proposed message passing (MP) and…

Autonomous vehicles require accurate and robust localization and mapping algorithms to navigate safely and reliably in urban environments. We present a novel sensor fusion-based pipeline for offline mapping and online localization based on…

HD (High Definition) map based on 3D lidar plays a vital role in autonomous vehicle localization, planning, decision-making, perception, etc. Many 3D lidar mapping technologies related to SLAM (Simultaneous Localization and Mapping) are…

Online clustering methods that adaptively create and update nodes as data arrive often make node learning explicit, whereas the mapping from the learned node state to output clusters often remains implicit or simplified. Implicit mappings…

3D object detection plays a fundamental role in enabling autonomous driving, which is regarded as the significant key to unlocking the bottleneck of contemporary transportation systems from the perspectives of safety, mobility, and…

For many data mining and machine learning tasks, the quality of a similarity measure is the key for their performance. To automatically find a good similarity measure from datasets, metric learning and similarity learning are proposed and…

Reliable and accurate localization and mapping are key components of most autonomous systems. Besides geometric information about the mapped environment, the semantics plays an important role to enable intelligent navigation behaviors. In…

Knowing when a trained segmentation model is encountering data that is different to its training data is important. Understanding and mitigating the effects of this play an important part in their application from a performance and…

Large-scale LiDAR Bundle Adjustment (LBA) to refine sensor orientation and point cloud accuracy simultaneously to build the navigation map is a fundamental task in logistics and robotics. Unlike pose-graph-based methods that rely solely on…

Traffic Salient Object Detection (TSOD) aims to segment the objects critical to driving safety by combining semantic (e.g., collision risks) and visual saliency. Unlike SOD in natural scene images (NSI-SOD), which prioritizes visually…

The multi-agent pathfinding (MAPF) problem seeks collision-free paths for a team of agents from their current positions to their pre-set goals in a known environment, and is an essential problem found at the core of many logistics,…

We propose a novel and robust online function-on-scalar regression technique via geometric median to learn associations between functional responses and scalar covariates based on massive or streaming datasets. The online estimation…

Classifiers label data as belonging to one of a set of groups based on input features. It is challenging to obtain accurate classification performance when the feature distributions in the different classes are complex, with nonlinear,…

Model order reduction (MOR) techniques are often used to reduce the order of spatially-discretized (stochastic) partial differential equations and hence reduce computational complexity. A particular class of MOR techniques is balancing…

Average precision (AP), the area under the recall-precision (RP) curve, is the standard performance measure for object detection. Despite its wide acceptance, it has a number of shortcomings, the most important of which are (i) the…

With the increasing application of deep learning in various domains, salient object detection in optical remote sensing images (ORSI-SOD) has attracted significant attention. However, most existing ORSI-SOD methods predominantly rely on…