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Collaborative navigation becomes essential in situations of occluded scenarios in autonomous driving where independent driving policies are likely to lead to collisions. One promising approach to address this issue is through the use of…

Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

The long-tail distribution of real driving data poses challenges for training and testing autonomous vehicles (AV), where rare yet crucial safety-critical scenarios are infrequent. And virtual simulation offers a low-cost and efficient…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms…

Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…

Future lunar missions will require autonomous rovers capable of traversing tens of kilometers across challenging terrain while maintaining accurate localization and producing globally consistent maps. However, the absence of global…

We propose a novel, vision-only object-level SLAM framework for automotive applications representing 3D shapes by implicit signed distance functions. Our key innovation consists of augmenting the standard neural representation by a…

Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…

While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic (or dynamic) constraints of the real robotic system when…

In this paper, a complete framework for Autonomous Self Driving is implemented. LIDAR, Camera and IMU sensors are used together. The entire data communication is managed using Robot Operating System which provides a robust platform for…

Trajectory prediction is central to the safe and seamless operation of autonomous vehicles (AVs). In deployment, however, prediction models inevitably face distribution shifts between training data and real-world conditions, where rare or…

Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…

A key component in autonomous driving is the ability of the self-driving car to understand, track and predict the dynamics of the surrounding environment. Although there is significant work in the area of object detection, tracking and…

The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and…

Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…

Autonomous vehicles (AVs) rely on environment perception and behavior prediction to reason about agents in their surroundings. These perception systems must be robust to adverse weather such as rain, fog, and snow. However, validation of…

In addition to environmental perception sensors such as cameras, radars, etc. in the automatic driving system, the external environment of the vehicle is perceived, in fact, there is also a perception sensor that has been silently dedicated…

Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…