Map-free LiDAR localization systems accurately localize within known environments by predicting sensor position and orientation directly from raw point clouds, eliminating the need for large maps and descriptors. Howe...
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ISBN:
(数字)9798331510831
ISBN:
(纸本)9798331510848
Map-free LiDAR localization systems accurately localize within known environments by predicting sensor position and orientation directly from raw point clouds, eliminating the need for large maps and descriptors. However, their long training times hinder rapid adaptation to new environments. To address this, we propose FlashMix, which uses a frozen, scene-agnostic backbone to extract local point descriptors, aggregated with an MLP mixer to predict sensor pose. A buffer of local descriptors is used to accelerate training by orders of magnitude, combined with metric learning or contrastive loss regularization of aggregated descriptors to improve performance and convergence. We evaluate FlashMix on various LiDAR localization benchmarks, examining different regularizations and aggregators, and demonstrating its effectiveness for rapid and accurate LiDAR localization in real-world scenarios. The code is available at https://***/raktimgg/FlashMix.
The application of robots in social life, equipped with sensors and actuators and embedded with AI, assists people in all aspects. However, the first perspective of the robot horizon is heavily constrained, which weak...
We present M3ED, the first multi-sensor event camera dataset focused on high-speed dynamic motions in robotics applications. M3ED provides high-quality synchronized and labeled data from multiple platforms, including ...
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The robotic autonomous luggage trolley collection system employs robots to gather and transport scattered luggage trolleys at airports. However, existing methods for detecting and locating these luggage trolleys often...
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Over the past decades, point cloud-based place recognition has garnered significant attention. This research paper presents a pioneering approach, denoted as the Multi-scale Point Octree Encoding Network (MPOE-Net), d...
Over the past decades, point cloud-based place recognition has garnered significant attention. This research paper presents a pioneering approach, denoted as the Multi-scale Point Octree Encoding Network (MPOE-Net), designed to acquire a discriminative global descriptor for efficient retrieval of places. The key element of the MPOE-Net is the point octree encoding module, which adeptly captures local information for each point by considering its nearest and farthest neighbors. Further enhancing local relationships, a multi-transformer network is introduced, utilizing a novel grouped offset-attention mechanism. To amalgamate the multi-scale attention maps into a comprehensive global descriptor, a multi-NetVLAD layer is incorporated. Through rigorous experimentation across diverse benchmark datasets, our proposed method unequivocally outperforms existing techniques in the realm of point cloud-based place recognition tasks, achieving state-of-the-art results. Our code is released publicly at https://***/Zhilong-Tang/MPOE-Net.
Objective and Impact *** propose an automated method of predicting Normal Pressure Hydrocephalus(NPH)from CT scans.A deep convolutional network segments regions of interest from the *** regions are then combined with ...
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Objective and Impact *** propose an automated method of predicting Normal Pressure Hydrocephalus(NPH)from CT scans.A deep convolutional network segments regions of interest from the *** regions are then combined with MRI information to predict *** our knowledge,this is the first method which automatically predicts NPH from CT scans and incorporates diffusion tractography information for *** to their low cost and high versatility,CT scans are often used in NPH *** well-defined and effective protocol currently exists for analysis of CT scans for ***’index,an approximation of the ventricle to brain volume using one 2D image slice,has been proposed but is not *** proposed approach is an effective way to quantify regions of interest and offers a computational method for predicting *** propose a novel method to predict NPH by combining regions of interest segmented from CT scans with connectome data to compute features which capture the impact of enlarged ventricles by excluding fiber tracts passing through these *** segmentation and network features are used to train a model for NPH *** method outperforms the current state-of-the-art by 9 precision points and 29 recall *** segmentation model outperforms the current state-of-the-art in segmenting the ventricle,gray-white matter,and subarachnoid space in CT *** experimental results demonstrate that fast and accurate volumetric segmentation of CT brain scans can help improve the NPH diagnosis process,and network properties can increase NPH prediction accuracy.
Due to communication latency with remote ground sites, automatic recognition of Mars terrain is essential for the path-planning of rovers. Currently, most vision-based terrain classification require thousands of fine-...
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Visual relocalization is a fundamental problem in computervision and robotics. Recently, regression-based methods become popular and they can be categorized into two classes: absolute pose regression and scene coordi...
Visual relocalization is a fundamental problem in computervision and robotics. Recently, regression-based methods become popular and they can be categorized into two classes: absolute pose regression and scene coordinate regression. In this work, we present a combined regression network that jointly learns scene coordinate regression and absolute pose regression for single-image visual relocalization. The proposed network composes of a feature encoder and two regression branches with uncertainty modeling. In particular, we design a deep feature conditioning module, aiming at propagating the coarse pose information in absolute pose regression to inform the predictions in scene coordinate regression. The proposed network is trained in an end-to-end fashion to learn both regression tasks. Moreover, we propose an uncertainty-driven RANSAC algorithm that incorporates the predicted scene coordinates and their uncertainties to solve the camera pose during inference. To the best of our knowledge, this work is the first to combine scene coordinate regression and pose regression in a hierarchical framework for visual relocalization. Experiments on indoor and outdoor benchmarks demonstrate the effectiveness and the superiority of the proposed method over the state-of-the-art methods.
The application of robots in social life, equipped with sensors and actuators and embedded with AI, assists people in all aspects. However, the first perspective of the robot horizon is heavily constrained, which weak...
The application of robots in social life, equipped with sensors and actuators and embedded with AI, assists people in all aspects. However, the first perspective of the robot horizon is heavily constrained, which weakens its performance. A joint tracking system is designed and built to deal with this, by integrating a surveillance system with the robot visual, providing a third perspective. This system takes one horizontal view and two top views from various directions as inputs and matches a person among the frames and in time sequence. In order to deal with the identity match with a huge visual feature gap, a special dataset is collected, simultaneously labeling identities from a mobile robot perspective and multiple indoor static surveillance monitors. The experiment shows that such match is a task worth exploring that can be better handled by training on our dataset than existing open source Re-identification (Re-id) datasets. Moreover, in the real scenario, this system improves the performance on issues like in and out of the robot’s field of vision and heavy occlusion by people or objects.
Dense map that contains the surrounding geometry and vision information of a robot is widely used for path planning, navigation, obstacle avoidance and other applications. Considering the performance of the processing...
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