Qun Hao

Chun Bao, Jie Cao, Yaqian Ning et al.

Extensive research works demonstrate that the attention mechanism in convolutional neural networks (CNNs) effectively improves accuracy. Nevertheless, few works design attention mechanisms using large receptive fields. In this work, we propose a novel attention method named Rega-net to increase CNN accuracy by enlarging the receptive field. Inspired by the mechanism of the human retina, we design convolutional kernels to resemble the non-uniformly distributed structure of the human retina. Then, we sample variable-resolution values in the Gabor function distribution and fill these values in retina-like kernels. This distribution allows essential features to be more visible in the center position of the receptive field. We further design an attention module including these retina-like kernels. Experiments demonstrate that our Rega-Net achieves 79.96% top-1 accuracy on ImageNet-1K classification and 43.1% mAP on COCO2017 object detection. The mAP of the Rega-Net increased by up to 3.5% compared to baseline networks.

Yufei Lu, Yuetao Li, Zhizhou Jia et al.

In this letter, we propose a color-assisted robust framework for accurate LiDAR odometry and mapping (LOAM). Simultaneously receiving data from both the LiDAR and the camera, the framework utilizes the color information from the camera images to colorize the LiDAR point clouds and then performs iterative pose optimization. For each LiDAR scan, the edge and planar features are extracted and colored using the corresponding image and then matched to a global map. Specifically, we adopt a perceptually uniform color difference weighting strategy to exclude color correspondence outliers and a robust error metric based on the Welsch's function to mitigate the impact of positional correspondence outliers during the pose optimization process. As a result, the system achieves accurate localization and reconstructs dense, accurate, colored and three-dimensional (3D) maps of the environment. Thorough experiments with challenging scenarios, including complex forests and a campus, show that our method provides higher robustness and accuracy compared with current state-of-the-art methods.