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Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…
LiDAR-based 3D mapping suffers from cumulative drift causing global misalignment, particularly in GNSS-constrained environments. To address this, we propose a unified framework that fuses LiDAR, GNSS, and IMU data for high-resolution…
As urban air mobility (UAM) emerges as a transformative solution to urban transportation, the demand for robust communication frameworks capable of supporting high-density aerial traffic becomes increasingly critical. An essential area of…
Detecting pedestrians is a crucial task in autonomous driving systems to ensure the safety of drivers and pedestrians. The technologies involved in these algorithms must be precise and reliable, regardless of environment conditions. Relying…
The trend towards autonomous driving and the continuous research in the automotive area, like Advanced Driver Assistance Systems (ADAS), requires an accurate localization under all circumstances. An accurate estimation of the vehicle state…
We present LiDAR-GS, a Gaussian Splatting (GS) method for real-time, high-fidelity re-simulation of LiDAR scans in public urban road scenes. Recent GS methods proposed for cameras have achieved significant advancements in real-time…
This paper considers the problem of finding a landing spot for a drone in a dense urban environment. The conflicting requirement of fast exploration and high resolution is solved using a multi-resolution approach, by which visual…
The accuracy and reliability of vehicle localization on roads are crucial for applications such as self-driving cars, toll systems, and digital tachographs. To achieve accurate positioning, vehicles typically use global navigation satellite…
It is becoming clear that 5G wireless systems will encompass frequencies from around 500 MHz all the way to around 100 GHz. To adequately assess the performance of 5G systems in these different bands, path loss (PL) models will need to be…
Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…
Visual localization is the task of estimating a camera pose in a known environment. In this paper, we utilize 3D Gaussian Splatting (3DGS)-based representations for accurate and privacy-preserving visual localization. We propose Gaussian…
We propose a method for estimating the 3D pose for the camera of a mobile device in outdoor conditions, using only an untextured 2D model. Previous methods compute only a relative pose using a SLAM algorithm, or require many registered…
LiDAR sensors provide rich 3D information about their surrounding{s} and are becoming increasingly important for autonomous vehicles tasks such as {localization}, semantic segmentation, object detection, and tracking. {Simulation}…
Standalone Global Navigation Satellite Systems (GNSS) are known to provide positioning accuracy of a few meters in open sky conditions. This accuracy can drop significantly when the line-of-sight (LOS) paths to some GNSS satellites are…
Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…
Accurate 3D reconstruction of vehicles is vital for applications such as vehicle inspection, predictive maintenance, and urban planning. Existing methods like Neural Radiance Fields and Gaussian Splatting have shown impressive results but…
The development of cooperative vehicle safety (CVS) applications, such as collision warnings, turning assistants, and speed advisories, etc., has received great attention in the past few years. Accurate vehicular localization is essential…
The global navigation satellite systems (GNSS) play a vital role in transport systems for accurate and consistent vehicle localization. However, GNSS observations can be distorted due to multipath effects and non-line-of-sight (NLOS)…
The motivation of this paper is to address the problem of registering airborne LiDAR data and optical aerial or satellite imagery acquired from different platforms, at different times, with different points of view and levels of detail. In…
Today the global averaged civilian positioning accuracy is still at meter level for all existing Global Navigation Satellite Systems (GNSSs), and the civilian positioning performance is even worse in regions such as the Arctic region and…