197 citations · 292 across the 54 of their papers we have counts for
11 papers · 1 filter
Visible Structure Retrieval for Lightweight Image-Based Relocalisation
Fereidoon Zangeneh, Leonard Bruns, Amit Dekel +2
Accurate camera pose estimation from an image observation in a previously mapped environment is commonly done through structure-based methods: by finding correspondences between 2D…
BlendCLIP: Bridging Synthetic and Real Domains for Zero-Shot 3D Object Classification with Multimodal Pretraining
Ajinkya Khoche, Gergő László Nagy, Maciej Wozniak +2
Zero-shot 3D object classification is crucial for real-world applications like autonomous driving, however it is often hindered by a significant domain gap between the synthetic da…
ArgoTweak: Towards Self-Updating HD Maps through Structured Priors
Lena Wild, Rafael Valencia, Patric Jensfelt
Reliable integration of prior information is crucial for self-verifying and self-updating HD maps. However, no public dataset includes the required triplet of prior maps, current m…
Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots
Ermanno Bartoli, Dennis Rotondi, Buwei He +3
Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs…
DoGFlow: Self-Supervised LiDAR Scene Flow via Cross-Modal Doppler Guidance
Ajinkya Khoche, Qingwen Zhang, Yixi Cai +2
Accurate 3D scene flow estimation is critical for autonomous systems to navigate dynamic environments safely, but creating the necessary large-scale, manually annotated datasets re…
DeltaFlow: An Efficient Multi-frame Scene Flow Estimation Method
Qingwen Zhang, Xiaomeng Zhu, Yushan Zhang +3
Previous dominant methods for scene flow estimation focus mainly on input from two consecutive frames, neglecting valuable information in the temporal domain. While recent trends s…
PRIX: Learning to Plan from Raw Pixels for End-to-End Autonomous Driving
Maciej K. Wozniak, Lianhang Liu, Yixi Cai +1
While end-to-end autonomous driving models show promising results, their practical deployment is often hindered by large model sizes, a reliance on expensive LiDAR sensors and comp…
Information Gain Is Not All You Need
Ludvig Ericson, José Pedro, Patric Jensfelt
Autonomous exploration in mobile robotics often involves a trade-off between two objectives: maximizing environmental coverage and minimizing the total path length. In the widely u…
Quantifying Epistemic Uncertainty in Absolute Pose Regression
Fereidoon Zangeneh, Amit Dekel, Alessandro Pieropan +1
Visual relocalization is the task of estimating the camera pose given an image it views. Absolute pose regression offers a solution to this task by training a neural network, direc…
HiMo: High-Speed Objects Motion Compensation in Point Clouds
Qingwen Zhang, Ajinkya Khoche, Yi Yang +4
LiDAR point cloud is essential for autonomous vehicles, but motion distortions from dynamic objects degrade the data quality. While previous work has considered distortions caused…
SSF: Sparse Long-Range Scene Flow for Autonomous Driving
Ajinkya Khoche, Qingwen Zhang, Laura Pereira Sanchez +3
Scene flow enables an understanding of the motion characteristics of the environment in the 3D world. It gains particular significance in the long-range, where object-based percept…