Related papers: Haul Road Mapping from GPS Traces
A vehicle's fuel consumption depends on its type, the speed, the condition, and the gradients of the road on which it is moving. We developed a Routing Engine for finding an eco-route (one with low fuel consumption) between a source and a…
This paper presents a safe, efficient, and agile ground vehicle navigation algorithm for 3D off-road terrain environments. Off-road navigation is subject to uncertain vehicle-terrain interactions caused by different terrain conditions on…
This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit…
The decline of the number of newly discovered mineral deposits and increase in demand for different minerals in recent years has led exploration geologists to look for more efficient and innovative methods for processing different data…
High-definition (HD) maps are essential for autonomous driving systems. Traditionally, an expensive and labor-intensive pipeline is implemented to construct HD maps, which is limited in scalability. In recent years, crowdsourcing and online…
Cost-maps are used by robotic vehicles to plan collision-free paths. The cost associated with each cell in the map represents the sensed environment information which is often determined manually after several trial-and-error efforts. In…
Simulation is a valuable building block for the verification and validation of automated driving functions (ADF). When simulating urban driving scenarios, simulation maps are one important component. Often, the generation of those road…
Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…
Fine localization in autonomous driving platforms is a task of broad interest, receiving much attention in recent years. Some localization algorithms use the Euclidean distance as a similarity measure between the local image acquired by a…
Land remote sensing analysis is a crucial research in earth science. In this work, we focus on a challenging task of land analysis, i.e., automatic extraction of traffic roads from remote sensing data, which has widespread applications in…
High-definition (HD) semantic maps are crucial in enabling autonomous vehicles to navigate urban environments. The traditional method of creating offline HD maps involves labor-intensive manual annotation processes, which are not only…
Low-latency intelligent systems are required for autonomous driving on non-uniform terrain in open-pit mines and developing countries. This work proposes a perception system for autonomous vehicles on unpaved roads and off-road…
Online lane graph construction is a promising but challenging task in autonomous driving. Previous methods usually model the lane graph at the pixel or piece level, and recover the lane graph by pixel-wise or piece-wise connection, which…
This article introduces a novel approach to constructing a topometric map that allows for efficient navigation and decision-making in mobile robotics applications. The method generates the topometric map from a 2D grid-based map. The…
The accurate and automatic extraction of roads from satellite imagery is critical for applications in navigation and urban planning, significantly reducing the need for manual annotation. Many existing methods decompose this task into…
Robots are frequently tasked to gather relevant sensor data in unknown terrains. A key challenge for classical path planning algorithms used for autonomous information gathering is adaptively replanning paths online as the terrain is…
Vectorized high-definition (HD) map is essential for autonomous driving, providing detailed and precise environmental information for advanced perception and planning. However, current map vectorization methods often exhibit deviations, and…
In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking of construction sites with high…
This study presents a new methodology for learning-based motion planning for autonomous exploration using aerial robots. Through the reinforcement learning method of learning through trial and error, the action policy is derived that can…
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…