Related papers: Histogram-less LiDAR through SPAD response lineari…
Traffic volume data collection is a crucial aspect of transportation engineering and urban planning, as it provides vital insights into traffic patterns, congestion, and infrastructure efficiency. Traditional manual methods of traffic data…
Traditional LiDAR odometry (LO) systems mainly leverage geometric information obtained from the traversed surroundings to register laser scans and estimate LiDAR ego-motion, while it may be unreliable in dynamic or unstructured…
In this paper we present an autonomous system for acquiring close-range high-resolution images that maximize the quality of a later-on 3D reconstruction with respect to coverage, ground resolution and 3D uncertainty. In contrast to previous…
Single Photon Avalanche Diode sensor arrays operating in direct time of flight mode can perform 3D imaging using pulsed lasers. Operating at high frame rates, SPAD imagers typically generate large volumes of noisy and largely redundant…
Sensor setups of robotic platforms commonly include both camera and LiDAR as they provide complementary information. However, fusing these two modalities typically requires a highly accurate calibration between them. In this paper, we…
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…
Depth sensing is useful in a variety of applications that range from augmented reality to robotics. Time-of-flight (TOF) cameras are appealing because they obtain dense depth measurements with minimal latency. However, for many…
Foresighted robot navigation in dynamic indoor environments with cost-efficient hardware necessitates the use of a lightweight yet dependable controller. So inferring the scene dynamics from sensor readings without explicit object tracking…
Single-Photon Light Detection and Ranging (SP-LiDAR is emerging as a leading technology for long-range, high-precision 3D vision tasks. In SP-LiDAR, timestamps encode two complementary pieces of information: pulse travel time (depth) and…
We present a real-time approach for image-based localization within large scenes that have been reconstructed offline using structure from motion (Sfm). From monocular video, our method continuously computes a precise 6-DOF camera pose, by…
Multi-sensor fusion of multi-modal measurements from commodity inertial, visual and LiDAR sensors to provide robust and accurate 6DOF pose estimation holds great potential in robotics and beyond. In this paper, building upon our prior work…
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…
We demonstrate a blind zone-suppressed and flash-emitting solid-state Lidar based on lens-assisted beam steering (LABS) technology. As a proof-of-concept demonstration, with a design of subwavelength-gap one-dimensional (1D) long-emitter…
Single-photon avalanche diodes (SPADs) are a rapidly developing image sensing technology with extreme low-light sensitivity and picosecond timing resolution. These unique capabilities have enabled SPADs to be used in applications like…
Accurate interpretation of street-level imagery is essential for large-scale urban mapping and the creation of Spatial Digital Twin (SDT) environments. This work presents a unified framework for joint 2D-3D segmentation and association that…
This paper presents an end-to-end radar odometry system which delivers robust, real-time pose estimates based on a learned embedding space free of sensing artefacts and distractor objects. The system deploys a fully differentiable,…
Aerial mapping systems are important for many surveying applications (e.g., industrial inspection or agricultural monitoring). Aerial platforms that can fly GPS-guided preplanned missions semi-autonomously are already widely available but…
Active imaging systems sample the Transient Light Transport Matrix (TLTM) for a scene by sequentially illuminating various positions in this scene using a controllable light source, and then measuring the resulting spatiotemporal light…
Recent studies shows that the orthogonal time frequency space (OTFS) waveform is a promising candidate for future communication. To meet users' potential demand for Integrated Sensing and Communication (ISAC) applications in 6G, the usage…
Autonomous vehicles (AVs) are expected to revolutionize transportation by improving efficiency and safety. Their success relies on 3D vision systems that effectively sense the environment and detect traffic agents. Among sensors AVs use to…