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Detalhes

Detalhes

Publicações

2021

Deep learning point cloud odometry: Existing approaches and open challenges

Autores
Teixeira, B; Silva, H;

Publicação
U.Porto Journal of Engineering

Abstract
Achieving persistent and reliable autonomy for mobile robots in challenging field mission scenarios is a long-time quest for the Robotics research community. Deep learning-based LIDAR odometry is attracting increasing research interest as a technological solution for the robot navigation problem and showing great potential for the task. In this work, an examination of the benefits of leveraging learning-based encoding representations of real-world data is provided. In addition, a broad perspective of emergent Deep Learning robust techniques to track motion and estimate scene structure for real-world applications is the focus of a deeper analysis and comprehensive comparison. Furthermore, existing Deep Learning approaches and techniques for point cloud odometry tasks are explored, and the main technological solutions are compared and discussed. Open challenges are also laid out for the reader, hopefully offering guidance to future researchers in their quest to apply deep learning to complex 3D non-matrix data to tackle localization and robot navigation problems.

2020

Deep Learning for Underwater Visual Odometry Estimation

Autores
Teixeira, B; Silva, H; Matos, A; Silva, E;

Publicação
IEEE ACCESS

Abstract

2019

Deep Learning Approaches Assessment for Underwater Scene Understanding and Egomotion Estimation

Autores
Teixeira, B; Silva, H; Matos, A; Silva, E;

Publicação
OCEANS 2019 MTS/IEEE SEATTLE

Abstract