Related papers: Estimation of Looming from LiDAR
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. In this paper we derive novel…
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…
Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…
Brains and sensory systems evolved to guide motion. Central to this task is controlling the approach to stationary obstacles and detecting moving organisms. Looming has been proposed as the main monocular visual cue for detecting the…
Odometry is crucial for robot navigation, particularly in situations where global positioning methods like global positioning system (GPS) are unavailable. The main goal of odometry is to predict the robot's motion and accurately determine…
In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…
The estimation of uncertainty in robotic vision, such as 3D object detection, is an essential component in developing safe autonomous systems aware of their own performance. However, the deployment of current uncertainty estimation methods…
Vehicle odometry is an essential component of an automated driving system as it computes the vehicle's position and orientation. The odometry module has a higher demand and impact in urban areas where the global navigation satellite system…
Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…
Autonomous vehicles rely on their perception systems to acquire information about their immediate surroundings. It is necessary to detect the presence of other vehicles, pedestrians and other relevant entities. Safety concerns and the need…
Accurate, robust, and real-time LiDAR-based odometry (LO) is imperative for many applications like robot navigation, globally consistent 3D scene map reconstruction, or safe motion-planning. Though LiDAR sensor is known for its precise…
LiDAR and 4D radar are widely used in autonomous driving and robotics. While LiDAR provides rich spatial information, 4D radar offers velocity measurement and remains robust under adverse conditions. As a result, increasing studies have…
Light Detection and Ranging (LiDAR) technology has proven to be an important part of many robotics systems. Surface normals estimated from LiDAR data are commonly used for a variety of tasks in such systems. As most of the today's…
This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…
In the last decades, Light Detection And Ranging (LiDAR) technology has been extensively explored as a robust alternative for self-localization and mapping. These approaches typically state ego-motion estimation as a non-linear optimization…
Moving object detection is a critical task for autonomous vehicles. As dynamic objects represent higher collision risk than static ones, our own ego-trajectories have to be planned attending to the future states of the moving elements of…
Higher level functionality in autonomous driving depends strongly on a precise motion estimate of the vehicle. Powerful algorithms have been developed. However, their great majority focuses on either binocular imagery or pure LIDAR…
Conventionally, human intuition defines vision as a modality of passive optical sensing, relying on ambient light to perceive the environment. However, active optical sensing, which involves emitting and receiving signals, offers unique…
Intelligent devices for supporting persons with vision impairment are becoming more widespread, but they are lacking behind the advancements in intelligent driver assistant system. To make a first step forward, this work discusses the…
A complete overview of the surrounding vehicle environment is important for driver assistance systems and highly autonomous driving. Fusing results of multiple sensor types like camera, radar and lidar is crucial for increasing the…