9 papers
Adversarial Attacks on Robot Localization Systems via Deep Feature Perturbation
Zhenyu Li, Tianyi Shang
Robot localization systems are critical for autonomous navigation and safety. Adversarial perturbations can mislead these systems, resulting in mislocalization, navigation errors,…
Riemannian and Symplectic Geometry for Hierarchical Text-Driven Place Recognition
Tianyi Shang, Zhenyu Li
Text-to-point-cloud localization enables robots to understand spatial positions through natural language descriptions, which is crucial for human-robot collaboration in application…
A2GC: Asymmetric Aggregation with Geometric Constraints for Locally Aggregated Descriptors
Zhenyu Li, Tianyi Shang
Visual Place Recognition (VPR) aims to match query images against a database using visual cues. State-of-the-art methods aggregate features from deep backbones to form global descr…
SpatiaLoc: Leveraging Multi-Level Spatial Enhanced Descriptors for Cross-Modal Localization
Tianyi Shang, Pengjie Xu, Zhaojun Deng +3
Cross-modal localization using text and point clouds enables robots to localize themselves via natural language descriptions, with applications in autonomous navigation and interac…
Vehicle-Scene Interaction: A Text-Driven 3D Lidar Place Recognition Method for Autonomous Driving
Tianyi Shang, Zhenyu Li, Pengjie Xu +1
Environment description-based localization in large-scale point cloud maps constructed through remote sensing is critically significant for the advancement of large-scale autonomou…
OptiCorNet: Optimizing Sequence-Based Context Correlation for Visual Place Recognition
Zhenyu Li, Tianyi Shang, Pengjie Xu +2
Visual Place Recognition (VPR) in dynamic and perceptually aliased environments remains a fundamental challenge for long-term localization. Existing deep learning-based solutions p…