7 accepted papers
LiDAR-based semantic segmentation is a key component for autonomous mobile robots, yet large-scale annotation of LiDAR point clouds is prohibitively expensive and time-consuming. Although simulators can provide labeled synthetic data, models trained on synthetic data often underperform on real-world…
Building LiDAR generative models holds promise as powerful data priors for restoration, scene manipulation, and scalable simulation in autonomous mobile robots. In recent years, approaches using diffusion models have emerged, significantly improving training stability and generation quality. Despite
Terrain classification is critically important for Mars rovers, which rely on it for planning and autonomous navigation. On-board terrain classification using visual information has limitations, and is sensitive to illumination conditions. Classification can be improved if one fuses visual imagery w
This letter presents a prediction algorithm of driving energy for future Mars rover missions. The majority of future Mars rovers would be solar-powered, which would require energy-optimal driving to maximize the range with limited energy. The essential and arguably the most challenging technology fo
Mutual subspace method (MSM), which is one of image-based approaches, showed strong discrimination capability in gait recognition. In general, 2D image matrices are transformed into 1D image vectors to be used as input into MSM, and then principal component analysis (PCA) is applied to 1D vectors to…
We present two multi-modal panoramic 3D outdoor (MPO) datasets for semantic place categorization with six categories: forest, coast, residential area, urban area and indoor/outdoor parking lot. The first dataset consists of 650 static panoramic scans of dense (9,000,000 points) 3D color and reflecta…
In recent years, several low-cost 3D laser scanners are being brought to the market and 3D laser scanning is becoming widely used in many fields. For example, 3D modeling of architectural structures or digital preservation of cultural heritages are typical applications for 3D laser scanning. Despite…