8 accepted papers
Localization for autonomous robots in prior maps is crucial for their functionality. This paper offers a solution to this problem for indoor environments called InstaLoc, which operates on an individual lidar scan to localize it within a prior map. We draw on inspiration from how humans navigate and…
This work focuses on modelling a speaker’s accent that does not have a dedicated text-to-speech (TTS) frontend, including a grapheme-to-phoneme (G2P) module. Prior work on modelling accents assumes a phonetic transcription is available for the target accent, which might not be the case for low-resou…
We present SKD, a novel keypoint detector that uses saliency to determine the best candidates from a point cloud for tasks such as registration and reconstruction. The approach can be applied to any differentiable deep learning descriptor by using the gradients of that descriptor with respect to the
We present a universal neural vocoder based on Parallel WaveNet, with an additional conditioning network called Audio Encoder. Our universal vocoder offers real-time high-quality speech synthesis on a wide range of use cases. We tested it on 43 internal speakers of diverse age and gender, speaking 2…
In this paper, we present a 3D factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. Point clouds are accumulated using an inertial-kinematic state estimator bef…
Localization in challenging, natural environments, such as forests or woodlands, is an important capability for many applications from guiding a robot navigating along a forest trail to monitoring vegetation growth with handheld sensors. In this letter, we explore laser-based localization in both ur
During localization and mapping the success of point cloud registration can be compromised when there is an absence of geometric features or constraints in corridors or across doorways, or when the volumes scanned only partly overlap, due to occlusions or constrictions between subsequent observation…
In this work we introduce Natural Segmentation and Matching (NSM), an algorithm for reliable localization, using laser, in both urban and natural environments. Current state-of-the-art global approaches do not generalize well to structure-poor vegetated areas such as forests or orchards. In these en…