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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 robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complementary sensors. IMU data constrains acceleration and rotation,…
Maintaining stable and accurate localization during fast motion or on rough terrain remains highly challenging for mobile robots with onboard resources. Currently, multi-sensor fusion methods based on continuous-time representation offer a…
This article describes the method CFEAR Radar odometry, submitted to a competition at the Radar in Robotics workshop, ICRA 20241. CFEAR is an efficient and accurate method for spinning 2D radar odometry that generalizes well across…
This paper proposes a method of passively estimating the parameters of frequency-modulated-continuous-wave (FMCW) radar signals with a wide range of structural parameter values and analyzes how a malicious actor could employ such estimates…
Road traffic monitoring typically involves the counting and recording of vehicles on public roads over extended periods. The data gathered from such monitoring provides useful information to municipal authorities in urban areas. This paper…
We describe a time lens to expand the dynamic range of photon Doppler velocimetry (PDV) systems. The principle and preliminary design of a time-lens PDV (TL-PDV) are explained and shown to be feasible through simulations. In a PDV system,…
In this work, we propose a monocular visual odometry framework, which allows exploiting the best attributes of edge feature for illumination-robust camera tracking, while at the same time ameliorating the performance degradation of edge…
LiDAR odometry is a pivotal technology in the fields of autonomous driving and autonomous mobile robotics. However, most of the current works focus on nonlinear optimization methods, and still existing many challenges in using the…
Monocular visual odometry (VO) is a fundamental computer vision problem with applications in autonomous navigation, augmented reality and more. While deep learning-based methods have recently shown superior accuracy compared to traditional…
Dynamic time warping (DTW) is an effective dissimilarity measure in many time series applications. Despite its popularity, it is prone to noises and outliers, which leads to singularity problem and bias in the measurement. The time…
I present a general laser modulation control algorithm. I implement the LIDAR Frequency Modulated Continuous Wave (FMCW) scheme as a special case of study. My proposal applies to any arbitrary modulation pattern and is based on an iterative…
Radar offers the advantage of providing additional physical properties related to observed objects. In this study, we design a physical-enhanced radar-inertial odometry system that capitalizes on the Doppler velocities and radar…
Current and next-generation particle tracking detectors will incorporate precision timing capabilities with resolutions approaching tens of picoseconds. Using Technology Computer-Aided Design (TCAD) simulations of Low-Gain Avalanche Diode…
High-precision time-interval measurement is a fundamental technique in many advanced applications, including time and distance metrology, particle physics, and ultra-precision machining. However, many of these applications are confined by…
This work proposes a novel motion guided method for target-less self-calibration of a LiDAR and camera and use the re-projection of LiDAR points onto the image reference frame for real-time depth upsampling. The calibration parameters are…
Compact wearable mapping system (WMS) has gained significant attention due to their convenience in various applications. Specifically, it provides an efficient way to collect prior maps for 3D structure inspection and robot-based "last-mile…
Frequency modulated continuous wave (FMCW) radar is emerging as a trendy radar system for synthetic aperture radar (SAR). This letter proposes a novel method for the extraction of the SAR image with the FMCW radar. The proposed method can…
Localisation with Frequency-Modulated Continuous-Wave (FMCW) radar has gained increasing interest due to its inherent resistance to challenging environments. However, complex artefacts of the radar measurement process require appropriate…
In this paper, a novel amplitude-modulated continuous wave (AMCW) time-of-flight (ToF) scanning sensor based on digital-parallel demodulation is proposed and demonstrated in the aspect of distance measurement precision. Since…