Visual simultaneously localization and mapping (SLAM) systems obtain accurate estimation of the camera motion and the 3D map of the environment. Although the performance of SLAM systems is very impressive in many comm...
ISBN:
(数字)9781728150734
ISBN:
(纸本)9781728150741
Visual simultaneously localization and mapping (SLAM) systems obtain accurate estimation of the camera motion and the 3D map of the environment. Although the performance of SLAM systems is very impressive in many common scenarios, the tracking failure is still a very challenging issue, which always exists in the low textured environment and the rapid camera motion situation. In this paper, we proposed the first active bionic eyes SLAM system that leverages saccade movement of human eyes. In order to find more features points, we proposed an autonomous control strategy of the bionic eyes, which is mainly inspired by the peripheral and central visual of human eyes. Experimental results support that compared to fixed stereo cameras, our active bionic eyes SLAM system gains more robustness and avoids the tracking failure problem when facing the low textured environment.
Unsupervised domain adaptation (UDA) is proposed to better adapt the network trained on labeled synthetic data to unlabeled real-world data for addressing the annotation cost. However, most of these methods pay more a...
Unsupervised domain adaptation (UDA) is proposed to better adapt the network trained on labeled synthetic data to unlabeled real-world data for addressing the annotation cost. However, most of these methods pay more attention to domain distributions in input and output stages while ignoring the important differences in semantic expressions and local details in middle feature stages. Therefore, a novel UDA network named FeatDANet is presented to align feature-level domain distributions at each encoder layer. Specifically, two attention-based modules abbreviated as IFAM and DFLM are designed and implemented by mixing queries and keys between domains for advisable domain adaptation. The former realizes Inter-domain Features Alignment by transferring feature style, and the latter achieves Domain-invariant Features Learning robustly for the domain shift. Furthermore, FeatDANet is constructed as a self-training network with three weight-sharing branches, and an improved pseudo-labels learning strategy is suggested by identifying more confident pseudolabels and maximizing the use of pseudo-labels. It increases the participation of unlabeled data and also ensures stability in training. Extensive experiments show that FeatDANet achieves state-of-the-art performances on the tasks of GTA→Cityscapes and Synthia→Cityscapes.
In this paper, we propose a fast extrinsic calibration method for fusing multiple inertial measurement units (MIMU) to improve visual-inertial odometry (VIO) localization accuracy. Currently, data fusion algorithms fo...
In this paper, we propose a fast extrinsic calibration method for fusing multiple inertial measurement units (MIMU) to improve visual-inertial odometry (VIO) localization accuracy. Currently, data fusion algorithms for MIMU highly depend on the number of inertial sensors. Based on the assumption that extrinsic parameters between inertial sensors are perfectly calibrated, the fusion algorithm provides better localization accuracy with more IMUs, while neglecting the effect of extrinsic calibration error. Our method builds two non-linear least-squares problems to estimate the MIMU relative position and orientation separately, independent of external sensors and inertial noises online estimation. Then we give the general form of the virtual IMU (VIMU) method and propose its propagation on manifold. We perform our method on datasets, our self-made sensor board, and board with different IMUs, validating the superiority of our method over competing methods concerning speed, accuracy, and robustness. In the simulation experiment, we show that only fusing two IMUs with our calibration method to predict motion can rival nine IMUs. Real-world experiments demonstrate better localization accuracy of the VIO integrated with our calibration method and VIMU propagation on manifold.
Despite the great success achieved by supervised fully convolutional models in semantic segmentation, training the models requires a large amount of labor-intensive work to generate pixel-level annotations. Recent wor...
详细信息
ISBN:
(数字)9781728148038
ISBN:
(纸本)9781728148045
Despite the great success achieved by supervised fully convolutional models in semantic segmentation, training the models requires a large amount of labor-intensive work to generate pixel-level annotations. Recent works exploit synthetic data to train the model for semantic segmentation, but the domain adaptation between real and synthetic images remains a challenging problem. In this work, we propose a Separated Semantic Feature based domain adaptation network, named SSF-DAN, for semantic segmentation. First, a Semantic-wise Separable Discriminator (SS-D) is designed to independently adapt semantic features across the target and source domains, which addresses the inconsistent adaptation issue in the class-wise adversarial learning. In SS-D, a progressive confidence strategy is included to achieve a more reliable separation. Then, an efficient Class-wise Adversarial loss Reweighting module (CA-R) is introduced to balance the class-wise adversarial learning process, which leads the generator to focus more on poorly adapted classes. The presented framework demonstrates robust performance, superior to state-of-the-art methods on benchmark datasets.
Neighborhood construction plays a key role in point cloud processing. However, existing models only use a single neighborhood construction method to extract neighborhood features, which limits their scene understandin...
详细信息
Neighborhood construction plays a key role in point cloud processing. However, existing models only use a single neighborhood construction method to extract neighborhood features, which limits their scene understanding ability. In this paper, we propose a learnable Dual-Neighborhood Feature Aggregation (DNFA) module embedded in the encoder that builds and aggregates comprehensive surrounding knowledge of point clouds. In this module, we first construct two kinds of neighborhoods and design corresponding feature enhancement blocks, including a Basic Local Structure Encoding (BLSE) block and an Extended Context Encoding (ECE) block. The two blocks mine structural and contextual cues for enhancing neighborhood features, respectively. Second, we propose a Geometry-Aware Compound Aggregation (GACA) block, which introduces a functionally complementary compound pooling strategy to aggregate richer neighborhood features. To fully learn the neighborhood distribution, we absorb the geometric location information during the aggregation process. The proposed module is integrated into an MLP-based large-scale 3D processing architecture, which constitutes a 3D semantic segmentation network called DNFA-Net. Extensive experiments on public datasets containing indoor and outdoor scenes validate the superiority of DNFA-Net.
In this paper, we propose a fast extrinsic calibration method for fusing multiple inertial measurement units (MIMU) to improve visual-inertial odometry (VIO) localization accuracy. Currently, data fusion algorithms fo...
详细信息
暂无评论