2 code implementations • 12 May 2024 • Mingkai Jia, Qingwen Zhang, Bowen Yang, Jin Wu, Ming Liu, Patric Jensfelt
In response, we present BeautyMap to efficiently remove the dynamic points while retaining static features for high-fidelity global maps.
no code implementations • 6 May 2024 • Leonard Bruns, Jun Zhang, Patric Jensfelt
Existing neural field-based SLAM methods typically employ a single monolithic field as their scene representation.
no code implementations • 27 Mar 2024 • Ajinkya Khoche, Aron Asefaw, Alejandro Gonzalez, Bogdan Timus, Sina Sharif Mansouri, Patric Jensfelt
However, highly dynamic objects pose a unique challenge, as they can appear at different timestamps in each sensor's data.
1 code implementation • 26 Mar 2024 • Maciej K Wozniak, Mattias Hansson, Marko Thiel, Patric Jensfelt
In this study, we address a gap in existing unsupervised domain adaptation approaches on LiDAR-based 3D object detection, which have predominantly concentrated on adapting between established, high-density autonomous driving datasets.
no code implementations • 18 Mar 2024 • Thien-Minh Nguyen, Shenghai Yuan, Thien Hoang Nguyen, Pengyu Yin, Haozhi Cao, Lihua Xie, Maciej Wozniak, Patric Jensfelt, Marko Thiel, Justin Ziegenbein, Noel Blunder
Perception plays a crucial role in various robot applications.
2 code implementations • 3 Mar 2024 • Daniel Duberg, Qingwen Zhang, Mingkai Jia, Patric Jensfelt
The dynamic nature of the real world is one of the main challenges in robotics.
2 code implementations • 29 Jan 2024 • Qingwen Zhang, Yi Yang, Heng Fang, Ruoyu Geng, Patric Jensfelt
Scene flow estimation determines a scene's 3D motion field, by predicting the motion of points in the scene, especially for aiding tasks in autonomous driving.
Ranked #1 on Scene Flow Estimation on Argoverse 2
no code implementations • 7 Oct 2023 • Ajinkya Khoche, Laura Pereira Sánchez, Nazre Batool, Sina Sharif Mansouri, Patric Jensfelt
But most current state of the art LiDAR based methods are range limited due to sparsity at long range, which generates a form of domain gap between points closer to and farther away from the ego vehicle.
1 code implementation • 14 Jul 2023 • Qingwen Zhang, Daniel Duberg, Ruoyu Geng, Mingkai Jia, Lujia Wang, Patric Jensfelt
In the field of robotics, the point cloud has become an essential map representation.
1 code implementation • 12 Jun 2023 • Maciej K. Wozniak, Viktor Karefjards, Marko Thiel, Patric Jensfelt
Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field.
1 code implementation • 19 Jan 2023 • Leonard Bruns, Patric Jensfelt
Recently, various methods for 6D pose and shape estimation of objects at a per-category level have been proposed.
1 code implementation • 5 Jan 2023 • Fereidoon Zangeneh, Leonard Bruns, Amit Dekel, Alessandro Pieropan, Patric Jensfelt
Visual localization allows autonomous robots to relocalize when losing track of their pose by matching their current observation with past ones.
1 code implementation • 11 Jul 2022 • Leonard Bruns, Patric Jensfelt
Rich geometric understanding of the world is an important component of many robotic applications such as planning and manipulation.
no code implementations • 4 May 2022 • Leonard Bruns, Fereidoon Zangeneh, Patric Jensfelt
We consider the problem of tracking the 6D pose of a moving RGB-D camera in a neural scene representation.
no code implementations • 7 Mar 2022 • Ludvig Ericson, Patric Jensfelt
Floor plans are the basis of reasoning in and communicating about indoor environments.
1 code implementation • 21 Feb 2022 • Leonard Bruns, Patric Jensfelt
Recently, various methods for 6D pose and shape estimation of objects have been proposed.
1 code implementation • 10 Mar 2020 • Daniel Duberg, Patric Jensfelt
In applications where the environment is unknown a-priori, or where only a part of the environment is known, it is important that the 3D model can handle the unknown space efficiently.
Robotics
1 code implementation • 7 Dec 2019 • Jiexiong Tang, Rares Ambrus, Vitor Guizilini, Sudeep Pillai, Hanme Kim, Patric Jensfelt, Adrien Gaidon
Detecting and matching robust viewpoint-invariant keypoints is critical for visual SLAM and Structure-from-Motion.
no code implementations • 25 Sep 2019 • Xi Chen, Yuan Gao, Ali Ghadirzadeh, Marten Bjorkman, Ginevra Castellano, Patric Jensfelt
In this work, we introduce an exploration approach based on maximizing the entropy of the visited states while learning a goal-conditioned policy.
no code implementations • 17 Sep 2019 • Xi Chen, Ali Ghadirzadeh, Mårten Björkman, Patric Jensfelt
Deep reinforcement learning (RL) has enabled training action-selection policies, end-to-end, by learning a function which maps image pixels to action outputs.
no code implementations • 4 Jun 2019 • Massimiliano Mancini, Hakan Karaoguz, Elisa Ricci, Patric Jensfelt, Barbara Caputo
While today's robots are able to perform sophisticated tasks, they can only act on objects they have been trained to recognize.
no code implementations • 21 Mar 2019 • Jiexiong Tang, John Folkesson, Patric Jensfelt
In this paper, we proposed a new deep learning based dense monocular SLAM method.
3 code implementations • 28 Feb 2019 • Jiexiong Tang, Ludvig Ericson, John Folkesson, Patric Jensfelt
In this paper, we present a deep learning-based network, GCNv2, for generation of keypoints and descriptors.
no code implementations • 8 Nov 2018 • Xi Chen, Ali Ghadirzadeh, Mårten Björkman, Patric Jensfelt
Multi-objective reinforcement learning (MORL) is the generalization of standard reinforcement learning (RL) approaches to solve sequential decision making problems that consist of several, possibly conflicting, objectives.
no code implementations • 3 Jul 2018 • Massimiliano Mancini, Hakan Karaoguz, Elisa Ricci, Patric Jensfelt, Barbara Caputo
This novel dataset allows for testing the robustness of robot visual recognition algorithms to a series of different domain shifts both in isolation and unified.
no code implementations • 27 Apr 2018 • Xi Chen, Ali Ghadirzadeh, John Folkesson, Patric Jensfelt
Mobile robot navigation in complex and dynamic environments is a challenging but important problem.
no code implementations • 11 Apr 2018 • Hakan Karaoguz, Patric Jensfelt
These regions are further refined based on the overlap and similarity ratios.
no code implementations • 22 Dec 2017 • Nils Bore, Johan Ekekrantz, Patric Jensfelt, John Folkesson
This paper studies the problem of detection and tracking of general objects with long-term dynamics, observed by a mobile robot moving in a large environment.
no code implementations • 18 Oct 2017 • Johan Ekekrantz, Nils Bore, Rares Ambrus, John Folkesson, Patric Jensfelt
In this paper we introduce a system for unsupervised object discovery and segmentation of RGBD-images.
no code implementations • 25 Apr 2017 • Johan Ekekrantz, John Folkesson, Patric Jensfelt
In this paper we introduce an adaptive cost function for pointcloud registration.