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Millimeter-wave (mmW) radars are being increasingly integrated in commercial vehicles to support new Adaptive Driver Assisted Systems (ADAS) for its ability to provide high accuracy location, velocity, and angle estimates of objects,…
Current non-intrusive measurement techniques for characterising the solids flow in gas-solids suspensions are limited by the low temporal or low spatial resolution of the sample volume, or in the case of optical methods, by a short range of…
This paper documents the winning entry at the CVPR2017 vehicle velocity estimation challenge. Velocity estimation is an emerging task in autonomous driving which has not yet been thoroughly explored. The goal is to estimate the relative…
Laser triangulation sensors are widely used in industry for surface inspection due to simple setup, micron precision and low cost. Conventional laser triangulation methods only enable axial distance measurement limiting further…
A lidar odometry method, integrating into the computation the knowledge about the physics of the sensor, is proposed. A model of measurement error enables higher precision in estimation of the point normal covariance. Adjacent laser beams…
Millimeter-wave (mmWave) radar is increasingly being considered as an alternative to optical sensors for robotic primitives like simultaneous localization and mapping (SLAM). While mmWave radar overcomes some limitations of optical sensors,…
Multiple-input multiple-output (MIMO) radar offers several performance and flexibility advantages over traditional radar arrays. However, high angular and Doppler resolutions necessitate a large number of antenna elements and the…
Enabling autonomous robots to operate robustly in challenging environments is necessary in a future with increased autonomy. For many autonomous systems, estimation and odometry remains a single point of failure, from which it can often be…
Modern optical coherence tomography (OCT) devices provide volumetric images with micrometer-scale spatial resolution and a temporal resolution beyond video rate. In this work, we analyze an OCT-based prototypical tracking system which…
Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…
To achieve multi-Gb/s data rates in 6G optical wireless access networks based on narrow infrared (IR) laser beams, a high-speed receiver with two key specifications is needed: a sufficiently large aperture to collect the required optical…
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…
This paper presents a novel signal processing technique, coined grid hopping, as well as an active multistatic Frequency-Modulated Continuous Wave (FMCW) radar system designed to evaluate its performance. The design of grid hopping is…
Light detection and ranging (lidar) has long been used in various applications. Solid-state beam steering mechanisms are needed for robust lidar systems. Here we propose and demonstrate a lidar scheme called "Swept Source Lidar" that allows…
Simultaneous Localization and Mapping (SLAM) is an essential capability for autonomous robots, but due to high data rates of 3D LiDARs real-time SLAM is challenging. We propose a real-time method for 6D LiDAR odometry. Our approach combines…
In this work, we demonstrate continuous-time radar-inertial and lidar-inertial odometry using a Gaussian process motion prior. Using a sparse prior, we demonstrate improved computational complexity during preintegration and interpolation.…
It is well understood that in ADAS applications, a good estimate of the pose of the vehicle is required. This paper proposes a metaphorically named 2.5D odometry, whereby the planar odometry derived from the yaw rate sensor and four wheel…
Most visual odometry algorithm for a monocular camera focuses on points, either by feature matching, or direct alignment of pixel intensity, while ignoring a common but important geometry entity: edges. In this paper, we propose an odometry…
Optical distortions can significantly deteriorate the measurement accuracy in imaging systems. Such distortions can occur at fluctuating phase boundaries as well as multiple-phase flows and result from the accompanied refractive index…
The measurement of Doppler velocities in spectroscopic solar observations requires a reference for the local frame of rest. The rotational and radial velocities of the Earth and the rotation of the Sun introduce velocity offsets in the…