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Mutual interference in automotive radar scenarios is going to become a major concern as the density of vehicles with radar sensors in the roads increases. The present work tackles the problem of frequency modulated continuous wave (FMCW) to…
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…
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…
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…
Doppler radars are routinely used for the remote sensing of oceanic surface currents and atmospheric wind profiles. Even though they operate at different frequencies and address different media, they follow very similar processing for the…
Prism-based LiDARs are more compact and cheaper than the conventional mechanical multi-line spinning LiDARs, which have become increasingly popular in robotics, recently. However, there are several challenges for these new LiDAR sensors,…
We have developed an optical simulator to test optical two-way time-frequency transfer (O-TWTFT) at the femtosecond level capable of simulating relative motion between two linked optical clock nodes up to Mach 1.8 with no moving parts. The…
Frequency-modulated continuous-wave (FMCW) radar is a promising sensor technology for indoor drones as it provides range, angular as well as Doppler-velocity information about obstacles in the environment. Recently, deep learning approaches…
In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and…
- Both Lidars and Radars are sensors for obstacle detection. While Lidars are very accurate on obstacles positions and less accurate on their velocities, Radars are more precise on obstacles velocities and less precise on their positions.…
In a recent study [1], we demonstrated a multi-heterodyne differential absorption lidar (DIAL) for greenhouse gas monitoring utilizing solid targets. The multi-frequency absorption measurement was achieved using electro-optic dual-comb…
We present a multi-camera LiDAR inertial dataset of 4.5 km walking distance as an expansion of the Newer College Dataset. The global shutter multi-camera device is hardware synchronized with both the IMU and LiDAR, which is more accurate…
By means of C-OTDR (Correlation - Optical Time Domain Reflectometry), we measured the latency of100 km fiber with an accuracy of a few picoseconds. Based on iterating 49 measurements, we calculated a standard deviation of 12 ps between the…
New optical arrangements with two single-mode input fibers and a fiber-optic coupler are devised to measure the instantaneous velocity difference and local velocity. The fibers and the coupler are polarization-preserving to guarantee a high…
State-of-the-art forward facing monocular visual-inertial odometry algorithms are often brittle in practice, especially whilst dealing with initialisation and motion in directions that render the state unobservable. In such cases having a…
We explore the radial velocity performance benefits of coupling starlight to a fast-scanning interferometer and a fast-readout spectrometer with zero readout noise. By rapidly scanning an interferometer we can decouple wavelength…
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…
In this work, we propose a novel pipeline for face recognition and out-of-distribution (OOD) detection using short-range FMCW radar. The proposed system utilizes Range-Doppler and micro Range-Doppler Images. The architecture features a…
This work is completed on a whim after discussions with my junior colleague. The motion direction angle affects the micro-Doppler spectrum width, thus determining the human motion direction can provide important prior information for…
Light detection and ranging (LiDAR) is a ubiquitous tool to provide precise spatial awareness in various perception environments. A bionic LiDAR that can mimic human-like vision by adaptively gazing at selected regions of interest within a…