7 papers
Learning 1-Bit LiDAR-based Localization with Auxiliary Objective
Kaijie Yin, Zhiyuan Zhang, Tian Gao +3
6-DoF LiDAR-based localization is a fundamental capability for autonomous systems operating in large-scale outdoor environments. Many deep-learning-based localization methods have…
Efficient Active Training for Deep LiDAR Odometry
Beibei Zhou, Zhiyuan Zhang, Zhenbo Song +2
Robust and efficient deep LiDAR odometry models are crucial for accurate localization and 3D reconstruction, but typically require extensive and diverse training data to adapt to d…
Generalizing Unsupervised Lidar Odometry Model from Normal to Snowy Weather Conditions
Beibei Zhou, Zhiyuan Zhang, Zhenbo Song +2
Deep learning-based LiDAR odometry is crucial for autonomous driving and robotic navigation, yet its performance under adverse weather, especially snowfall, remains challenging. Ex…
Super LiDAR Intensity for Robotic Perception
Wei Gao, Jie Zhang, Mingle Zhao +6
Conventionally, human intuition defines vision as a modality of passive optical sensing, relying on ambient light to perceive the environment. However, active optical sensing, whic…
Information-Bottleneck Driven Binary Neural Network for Change Detection
Kaijie Yin, Zhiyuan Zhang, Shu Kong +3
In this paper, we propose Binarized Change Detection (BiCD), the first binary neural network (BNN) designed specifically for change detection. Conventional network binarization app…
High-Fidelity Differential-information Driven Binary Vision Transformer
Tian Gao, Zhiyuan Zhang, Kaijie Yin +2
The binarization of vision transformers (ViTs) offers a promising approach to addressing the trade-off between high computational/storage demands and the constraints of edge-device…