Related papers: High Precision Indoor Navigation for Autonomous Ve…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…
This paper addresses the problem of vehicle-mounted camera localization by matching a ground-level image with an overhead-view satellite map. Existing methods often treat this problem as cross-view image retrieval, and use learned deep…
Looming, traditionally defined as the relative expansion of objects in the observer's retina, is a fundamental visual cue for perception of threat and can be used to accomplish collision free navigation. The measurement of the looming cue…
LiDARs plays an important role in self-driving cars and its configuration such as the location placement for each LiDAR can influence object detection performance. This paper aims to investigate an optimal configuration that maximizes the…
This work proposes a novel motion guided method for target-less self-calibration of a LiDAR and camera and use the re-projection of LiDAR points onto the image reference frame for real-time depth upsampling. The calibration parameters are…
Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively affects their potential applications in localization and…
For autonomous vehicles, an accurate calibration for LiDAR and camera is a prerequisite for multi-sensor perception systems. However, existing calibration techniques require either a complicated setting with various calibration targets, or…
Accurate and precise positioning is required to guarantee the massive adoption of a wide range of 5G indoor applications, such as logistics and smart manufacturing. Native support for New Radio (NR) positioning services was included in 3GPP…
Autonomous driving car is becoming more of a reality, as a key component,high-definition(HD) maps shows its value in both market place and industry. Even though HD maps generation from LiDAR or stereo/perspective imagery has achieved…
Autonomous radar has been an integral part of advanced driver assistance systems due to its robustness to adverse weather and various lighting conditions. Conventional automotive radars use digital signal processing (DSP) algorithms to…
In recent studies, numerous previous works emphasize the importance of semantic segmentation of LiDAR data as a critical component to the development of driver-assistance systems and autonomous vehicles. However, many state-of-the-art…
For autonomous driving, traversability analysis is one of the most basic and essential tasks. In this paper, we propose a novel LiDAR-based terrain modeling approach, which could output stable, complete and accurate terrain models and…
Currently, visual odometry and LIDAR odometry are performing well in pose estimation in some typical environments, but they still cannot recover the localization state at high speed or reduce accumulated drifts. In order to solve these…
One of the major open challenges in self-driving cars is the ability to detect cars and pedestrians to safely navigate in the world. Deep learning-based object detector approaches have enabled great advances in using camera imagery to…
Positioning integrity refers to the trust in the performance of a navigation system. Accurate and reliable position information is needed to meet the requirements of connected and Automated Vehicle (CAV) applications, particularly in…
Model predictive control (MPC) is widely used for path tracking of autonomous vehicles due to its ability to handle various types of constraints. However, a considerable predictive error exists because of the error of mathematics model or…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…
Autonomous racing provides a controlled environment for testing the software and hardware of autonomous vehicles operating at their performance limits. Competitive interactions between multiple autonomous racecars however introduce…
This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration…
Road construction sites create major challenges for both autonomous vehicles and human drivers due to their highly dynamic and heterogeneous nature. This paper presents a real-time system that detects and localizes roadworks by combining a…