Related papers: Locating Transparent Objects to Millimetre Accurac…
Glass-like objects can be seen everywhere in our daily life which are very hard for existing methods to segment them. The properties of transparencies pose great challenges of detecting them from the chaotic background and the vague…
In LiDAR sensing, glass, mirrors and other material often cause inconsistent data readings, because the laser beams may report the distance of the glass, the distance of the object behind the glass or the distance to a reflected object.…
A misalignment of LiDAR as low as a few degrees could cause a significant error in obstacle detection and mapping that could cause safety and quality issues. In this paper, an accurate inspection system is proposed for estimating a LiDAR…
Research on localization and perception for Autonomous Driving is mainly focused on camera and LiDAR datasets, rarely on radar data. Manually labeling sparse radar point clouds is challenging. For a dataset generation, we propose the cross…
Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…
The ability to know what is hidden around a corner or behind a wall provides a crucial advantage when physically going around the obstacle is impossible or dangerous. Previous solutions to this challenge were constrained e.g. by their…
Robots must reliably interact with refractive objects in many applications; however, refractive objects can cause many robotic vision algorithms to become unreliable or even fail, particularly feature-based matching applications, such as…
It is essential to have a method to map an unknown terrain for various applications. For places where human access is not possible, a method should be proposed to identify the environment. Exploration, disaster relief, transportation and…
In absence of a lens to form an image, incoherent or partially coherent light scattering off an obstructive or reflective object forms a broad intensity distribution in the far field with only feeble spatial features. We show here that…
Most commercially available Light Detection and Ranging (LiDAR)s measure the distances along a 2D section of the environment by sequentially sampling the free range along directions centered at the sensor's origin. When the sensor moves…
High precision astrometry aims at source position determination to a very small fraction of the diffraction image size, in high SNR regime. One of the key limitations to such goal is the optical response variation of the telescope over a…
Transparent objects present multiple distinct challenges to visual perception systems. First, their lack of distinguishing visual features makes transparent objects harder to detect and localize than opaque objects. Even humans find certain…
Lobster eye telescopes are ideal monitors to detect X-ray transients, because they could observe celestial objects over a wide field of view in X-ray band. However, images obtained by lobster eye telescopes are modified by their unique…
In this paper, we present LaserNet, a computationally efficient method for 3D object detection from LiDAR data for autonomous driving. The efficiency results from processing LiDAR data in the native range view of the sensor, where the input…
Transparent object perception is a rapidly developing research problem in artificial intelligence. The ability to perceive transparent objects enables robots to achieve higher levels of autonomy, unlocking new applications in various…
Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…
Automotive self-localization is an essential task for any automated driving function. This means that the vehicle has to reliably know its position and orientation with an accuracy of a few centimeters and degrees, respectively. This paper…
Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…
This paper addresses the localization problem. The extended Kalman filter (EKF) is employed to localize a unicycle-like mobile robot equipped with a laser range finder (LRF) sensor and an omni-directional camera. The LRF is used to scan the…
Transparent objects are common in daily life, while their optical properties pose challenges for RGB-D cameras to capture accurate depth information. This issue is further amplified when these objects are hand-held, as hand occlusions…