Related papers: Picking Up Speed: Continuous-Time Lidar-Only Odome…
We present an optical-optical double-resonance (OODR) spectrometer based on a 3.3 ${\mu}$m continuous wave pump and two cavity-enhanced probes: a frequency comb tunable in the 1.64 - 1.8 ${\mu}$m range, and a comb-referenced continuous wave…
Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in visual odometry is…
Radar-based human activity recognition (HAR) is a pivotal research area for applications requiring non-invasive monitoring. However, the acquisition of diverse and high-fidelity radar datasets for robust algorithm development remains a…
Object detection applied to LiDAR point clouds is a relevant task in robotics, and particularly in autonomous driving. Single frame methods, predominant in the field, exploit information from individual sensor scans. Recent approaches…
We present an inexpensive architecture for converting a frequency-modulated continuous-wave LiDAR system into a compressive-sensing based depth-mapping camera. Instead of raster scanning to obtain depth-maps, compressive sensing is used to…
In this paper, a novel method to enhance Frequency Modulated Continuous Wave (FMCW) THz imaging resolution beyond its diffraction limit is proposed. Our method comprises two stages. Firstly, we reconstruct the signal in depth-direction…
We propose a coordinated FMCW-OFDM (Co-FMCW-OFDM) system that enables integrated sensing and communication (ISAC) by allowing sensing and communication to share the same RF front end, antennas, and spectral resources. In the proposed ISAC…
Fourier ptychography microscopy (FPM), sharing its roots with synthetic aperture technique and phase retrieval method, is a recently developed computational microscopic super-resolution technique. By turning on the light-emitting diode…
Advancing towards high automation and autonomous operations is crucial for the future of inland waterway transport (IWT) systems. These systems necessitate robust and precise onboard sensory technologies that can perceive the environment…
Recent scientific and technological advances have enabled the detection of gravitational waves, autonomous driving, and the proposal of a communications network on the Moon (Lunar Internet or LunaNet). These efforts are based on the…
This is a complementary document to the paper presented in [1], to provide more detailed proofs for some results. The main paper addresses the problem of trajectory tracking control of autonomous rotorcraft in operation scenarios where only…
Object detection is a core component of perception systems, providing the ego vehicle with information about its surroundings to ensure safe route planning. While cameras and Lidar have significantly advanced perception systems, their…
State-of-the-art automotive radar sensors use a Mutliple-Input Mutiple-Output (MIMO) approach to obtain a better angular resolution. Time-Division Multiplexing (TDM) scheme is commonly applied to realize the orthogonality in time at the…
Light detection and ranging (LiDAR) has been widely used in autonomous driving and large-scale manufacturing. Although state-of-the-art scanning LiDAR can perform long-range three-dimensional imaging, the frame rate is limited by both…
The emerging Internet of Things (IoT) applications, such as driverless cars, have a growing demand for high-precision positioning and navigation. Nowadays, LiDAR inertial odometry becomes increasingly prevalent in robotics and autonomous…
Scan undistortion is a key module for LiDAR odometry in high dynamic environment with high rotation and translation speed. The existing line of studies mostly focuses on one pass undistortion, which means undistortion for each point is…
In this paper we deal with the problem of odometry and localization for Lidar-equipped vehicles driving in urban environments, where a premade target map exists to localize against. In our problem formulation, to correct the accumulated…
Robust and accurate localization in challenging environments is becoming crucial for SLAM. In this paper, we propose a unique sensor configuration for precise and robust odometry by integrating chip radar and a legged robot. Specifically,…
Fusing Radar and Lidar sensor data can fully utilize their complementary advantages and provide more accurate reconstruction of the surrounding for autonomous driving systems. Surround Radar/Lidar can provide 360-degree view sampling with…
Human Activity Recognition has gained significant attention due to its diverse applications, including ambient assisted living and remote sensing. Wearable sensor-based solutions often suffer from user discomfort and reliability issues,…