Related papers: Long Range 3D with Quadocular Thermal (LWIR) Camer…

Light detection and ranging (LiDAR) is widely used in autonomous systems and industrial metrology; however, the simultaneous acquisition of three-dimensional (3D) structure and broadband spectral information remains challenging, as…

Structure from Motion (SfM) often fails to estimate accurate poses in environments that lack suitable visual features. In such cases, the quality of the final 3D mesh, which is contingent on the accuracy of those estimates, is reduced. One…

With the advent of autonomous vehicles, LiDAR and cameras have become an indispensable combination of sensors. They both provide rich and complementary data which can be used by various algorithms and machine learning to sense and make…

Today's state-of-the-art methods for 3D object detection are based on lidar, stereo, or monocular cameras. Lidar-based methods achieve the best accuracy, but have a large footprint, high cost, and mechanically-limited angular sampling…

Sensor fusion is crucial for an accurate and robust perception system on autonomous vehicles. Most existing datasets and perception solutions focus on fusing cameras and LiDAR. However, the collaboration between camera and radar is…

We introduce DeepIR, a new thermal image processing framework that combines physically accurate sensor modeling with deep network-based image representation. Our key enabling observations are that the images captured by thermal sensors can…

Low-light image enhancement task is essential yet challenging as it is ill-posed intrinsically. Previous arts mainly focus on the low-light images captured in the visible spectrum using pixel-wise loss, which limits the capacity of…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

Infrared (IR) radiation detectors are used in numerous applications from thermal imaging to spectroscopic gas sensing. Obtaining high speed and sensitivity, low-power operation and cost-effectiveness with a single technology remains to be a…

In this paper, we present a unique $\text {2D}$ high resolution, compact, low-cost, lightweight, and highly accurate millimeter wave imagery system capable of operating in all weather conditions. We describe millimeter wave imaging process…

In this paper, we propose a thermal-infrared simultaneous localization and mapping (SLAM) system enhanced by sparse depth measurements from Light Detection and Ranging (LiDAR). Thermal-infrared cameras are relatively robust against fog,…

Autonomous vehicles rely on a variety of sensors to gather information about their surrounding. The vehicle's behavior is planned based on the environment perception, making its reliability crucial for safety reasons. The active LiDAR…

Visible images have been widely used for motion estimation. Thermal images, in contrast, are more challenging to be used in motion estimation since they typically have lower resolution, less texture, and more noise. In this paper, a novel…

Perception in 3D has become standard practice for a large part of robotics applications. High quality 3D perception is costly. Our previous work on a nodding 2D Lidar provides high quality 3D depth information with low cost, but the sparse…

This paper presents a Light Detection and Ranging (LiDAR) data set that targets complex urban environments. Urban environments with high-rise buildings and congested traffic pose a significant challenge for many robotics applications. The…

Fine-grained person perception such as body segmentation and pose estimation has been achieved with many 2D and 3D sensors such as RGB/depth cameras, radars (e.g., RF-Pose) and LiDARs. These sensors capture 2D pixels or 3D point clouds of…

Low-cost, vision-centric 3D perception systems for autonomous driving have made significant progress in recent years, narrowing the gap to expensive LiDAR-based methods. The primary challenge in becoming a fully reliable alternative lies in…

In recent years, thanks to the continuously reduced cost and weight of 3D Lidar, the applications of this type of sensor in robotics community have become increasingly popular. Despite many progresses, estimation drift and tracking loss are…

In this paper, we present 3D high resolution radar imaging at millimeter-Wave (mmWave) frequencies by means of a combination of virtual Multiple Input Multiple Output (MIMO) Frequency Modulated Continuous Wave (FMCW) Radars and Synthetic…

Unmanned Aerial Vehicles (UAVs) have quickly become common in various airspaces, representing a wide range of applications from recreation flying to commercial photography and package delivery. With the increasing prevalence of UAVs, it…