Related papers: Full-Velocity Radar Returns by Radar-Camera Fusion
4D millimeter-wave (mmWave) radars are increasingly used in robotics, as they offer robustness against adverse environmental conditions. Besides the usual XYZ position, they provide Doppler velocity measurements as well as Radar Cross…
Semantic scene segmentation from a bird's-eye-view (BEV) perspective plays a crucial role in facilitating planning and decision-making for mobile robots. Although recent vision-only methods have demonstrated notable advancements in…
In pulsed Doppler radars, the classic Chinese remainder theorem (CCRT) is a common method to resolve Doppler ambiguities caused by fast-moving targets. Another issue concerning high-velocity targets is related to the loss in the…
One recent promising approach to the Visual Place Recognition (VPR) problem has been to fuse the place recognition estimates of multiple complementary VPR techniques using methods such as SRAL and multi-process fusion. These approaches come…
Segmenting objects in an environment is a crucial task for autonomous driving and robotics, as it enables a better understanding of the surroundings of each agent. Although camera sensors provide rich visual details, they are vulnerable to…
Radar has stronger adaptability in adverse scenarios for autonomous driving environmental perception compared to widely adopted cameras and LiDARs. Compared with commonly used 3D radars, the latest 4D radars have precise vertical resolution…
Vision is one of the primary sensing modalities in autonomous driving. In this paper we look at the problem of estimating the velocity of road vehicles from a camera mounted on a moving car. Contrary to prior methods that train end-to-end…
A MIMO radar system is proposed for obtaining angle and Doppler information on potential targets. Transmitters and receivers are nodes of a small scale wireless network and are assumed to be randomly scattered on a disk. The transmit nodes…
We present a thermal velocity sampling method for calculating Doppler-broadened atomic spectra, which more efficiently reaches a smooth limit than regular velocity weighted sampling. The method uses equal-population sampling of the 1-D…
Autonomous driving requires robust perception across diverse environmental conditions, yet 3D semantic occupancy prediction remains challenging under adverse weather and lighting. In this work, we present the first study combining 4D radar…
Inter-vehicle distance and relative velocity estimations are two basic functions for any ADAS (Advanced driver-assistance systems). In this paper, we propose a monocular camera-based inter-vehicle distance and relative velocity estimation…
An autonomous system's perception engine must provide an accurate understanding of the environment for it to make decisions. Deep learning based object detection networks experience degradation in the performance and robustness for small…
Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix,…
Doppler effect and Hubble effect in different models of space-time related to the space-time velocity of an observer are considered. The Doppler effect and Doppler shift frequency parameter are connected with the kinematic characteristics…
Radar sensors are gradually becoming a wide-spread equipment for road vehicles, playing a crucial role in autonomous driving and road safety. The broad adoption of radar sensors increases the chance of interference among sensors from…
An innovative 3-D radar imaging technique is developed for fast and efficient identification and characterization of radar backscattering components of complex objects, when the collected scattered field is made of polarization-diverse…
We present a method that leverages the complementarity of event cameras and standard cameras to track visual features with low-latency. Event cameras are novel sensors that output pixel-level brightness changes, called "events". They offer…
Most existing RGB-based trackers target low frame rate benchmarks of around 30 frames per second. This setting restricts the tracker's functionality in the real world, especially for fast motion. Event-based cameras as bioinspired sensors…
In passive radar, a network of distributed sensors exploit signals from so-called Illuminators-of-Opportunity to detect and localize targets. We consider the case where the IO signal is available at each receiver node through a reference…
Visual Odometry (VO) is crucial for autonomous robotic navigation, especially in GPS-denied environments like planetary terrains. To improve robustness, recent model-based VO systems have begun combining standard and event-based cameras.…