4 papers · 1 filter
Why semantics matters: A deep study on semantic particle-filtering localization in a LiDAR semantic pole-map
Yuming Huang, Yi Gu, Chengzhong Xu +1
In most urban and suburban areas, pole-like structures such as tree trunks or utility poles are ubiquitous. These structural landmarks are very useful for the localization of auton…
GSB: Group Superposition Binarization for Vision Transformer with Limited Training Samples
Tian Gao, Cheng-Zhong Xu, Le Zhang +1
Vision Transformer (ViT) has performed remarkably in various computer vision tasks. Nonetheless, affected by the massive amount of parameters, ViT usually suffers from serious over…
HiTPR: Hierarchical Transformer for Place Recognition in Point Cloud
Zhixing Hou, Yan Yan, Chengzhong Xu +1
Place recognition or loop closure detection is one of the core components in a full SLAM system. In this paper, aiming at strengthening the relevancy of local neighboring points an…
Learning Moving-Object Tracking with FMCW LiDAR
Yi Gu, Hongzhi Cheng, Kafeng Wang +3
In this paper, we propose a learning-based moving-object tracking method utilizing our newly developed LiDAR sensor, Frequency Modulated Continuous Wave (FMCW) LiDAR. Compared with…