7 accepted papers
4D millimeter-wave radar plays a pivotal role in autonomous driving due to its cost-effectiveness and robustness in adverse weather. However, the application of 4D radar point cloud in 3D perception tasks is hindered by its inherent sparsity and noise. To address these challenges, we propose LGDD, a
LiDAR-based global localization is an essential component of simultaneous localization and mapping (SLAM), which helps loop closure and re-localization. Current approaches rely on ground-truth poses obtained from GPS or SLAM odometry to supervise network training. Despite the great success of these
We propose Multiscale Correlation searching homography estimation Network namely MCNet an iterative deep homography estimation architecture. Different from previous approaches that achieve iterative refinement by correlation searching within a single scale MCNet combines the multiscale strategy with…
"We propose a novel unsupervised cross-modal homography estimation framework based on intra-modal Self-supervised learning, Correlation, and consistent feature map Projection, namely SCPNet. The concept of intra-modal self-supervised learning is first presented to facilitate the unsupervised cross-m…
Place recognition is a key module for long-term SLAM systems. Current LiDAR-based place recognition methods usually use representations of point clouds such as unordered points or range images. These methods achieve high recall rates of retrieval, but their performance may degrade in the case of vie…
Place recognition is an important technique for autonomous cars to achieve full autonomy since it can provide an initial guess to online localization algorithms. Although current methods based on images or point clouds have achieved satisfactory performance, localizing the images on a large-scale po…
We propose the Recurrent homography estimation framework using Homography-guided image Warping and Focus transformer (FocusFormer), named RHWF. Both being appropriately absorbed into the recurrent framework, the homography-guided image warping progressively enhances the feature consistency and the a…