Related papers: TrajMatch: Towards Automatic Spatio-temporal Calib…
LADARs mounted on mobile platforms produce a wealth of precise range data on the surrounding objects and vehicles. The challenge we address is to infer from these raw LADAR data the location and orientation of nearby vehicles. We propose a…
This paper deals with the development of a localization methodology for autonomous vehicles using only a $3\Dim$ LIDAR sensor. In the context of this paper, localizing a vehicle in a known 3D global map of the environment is essentially to…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
As the autonomous driving industry is slowly maturing, visual map localization is quickly becoming the standard approach to localize cars as accurately as possible. Owing to the rich data returned by visual sensors such as cameras or…
Accurate calibration of sensor extrinsic parameters for ground robotic systems (i.e., relative poses) is crucial for ensuring spatial alignment and achieving high-performance perception. However, existing calibration methods typically…
LiDAR odometry and mapping (LOAM) has been playing an important role in autonomous vehicles, due to its ability to simultaneously localize the robot's pose and build high-precision, high-resolution maps of the surrounding environment. This…
Safe mobility for unmanned ground vehicles requires reliable detection of other vehicles, along with precise estimates of their locations and trajectories. Here we describe the algorithms and system we have developed for accurate trajectory…
High Speed multi-vehicle Autonomous Racing will increase the safety and performance of road-going Autonomous Vehicles. Precise vehicle detection and dynamics estimation from a moving platform is a key requirement for planning and executing…
This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-state LiDARs by leveraging an efficient and reliable edge…
The combination of LiDARs and cameras enables a mobile robot to perceive environments with multi-modal data, becoming a key factor in achieving robust perception. Traditional frame cameras are sensitive to changing illumination conditions,…
LiDAR sensors are becoming one of the most essential sensors in achieving full autonomy for self driving cars. LiDARs are able to produce rich, dense and precise spatial data, which can tremendously help in localizing and tracking a moving…
Autonomous trucking poses unique challenges due to articulated tractor-trailer geometry, and time-varying sensor poses caused by the fifth-wheel joint and trailer flex. Existing perception and calibration methods assume static baselines or…
Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…
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…
LiDAR sensors play a crucial role in various applications, especially in autonomous driving. Current research primarily focuses on optimizing perceptual models with point cloud data as input, while the exploration of deeper cognitive…
The fusion of sensor data from heterogeneous sensors is crucial for robust perception in various robotics applications that involve moving platforms, for instance, autonomous vehicle navigation. In particular, combining camera and lidar…
An automated vehicle operating in an urban environment must be able to perceive and recognise object/obstacles in a three-dimensional world while navigating in a constantly changing environment. In order to plan and execute accurate…
The vast increase in our ability to obtain and store trajectory data necessitates trajectory analytics techniques to extract useful information from this data. Pair-wise distance functions are a foundation building block for common…
Calibration is an essential prerequisite for the accurate data fusion of LiDAR and camera sensors. Traditional calibration techniques often require specific targets or suitable scenes to obtain reliable 2D-3D correspondences. To tackle the…
Traffic simulation models have long been popular in modern traffic planning and operation applications. Efficient calibration of simulation models is usually a crucial step in a simulation study. However, traditional calibration procedures…