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Annotating automotive radar data is a difficult task. This article presents an automated way of acquiring data labels which uses a highly accurate and portable global navigation satellite system (GNSS). The proposed system is discussed…
This paper presents the most thorough study to date of vehicular carrier-phase differential GNSS (CDGNSS) positioning performance in a deep urban setting unaided by complementary sensors. Using data captured during approximately 2 hours of…
For reliable operation on urban roads, navigation using the Global Navigation Satellite System (GNSS) requires both accurately estimating the positioning detail from GNSS pseudorange measurements and determining when the estimated position…
An algorithm based on Artificial Neural Networks is proposed in this paper to improve the accuracy of Inertial Navigation System (INS)/ Global Navigation Satellite System (GNSS) integrated navigation during the absence of GNSS signals. The…
Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…
Global Navigation Satellite Systems (GNSS) are widely used to provide position, velocity, and timing (PVT) information for various applications, including transportation, location-based communication services, and intelligent agriculture.…
The availability of real-world data is a key element for novel developments in the fields of automotive and traffic research. Aerial imagery has the major advantage of recording multiple objects simultaneously and overcomes limitations such…
GNSS and LiDAR odometry are complementary as they provide absolute and relative positioning, respectively. Their integration in a loosely-coupled manner is straightforward but is challenged in urban canyons due to the GNSS signal…
Absolute positioning is an essential factor for the arrival of autonomous driving. Global Navigation Satellites System (GNSS) receiver provides absolute localization for it. GNSS solution can provide satisfactory positioning in open or…
This paper surveys a number of recent developments in modern Global Navigation Satellite Systems (GNSS) and investigates the possible impact on autonomous driving architectures. Modern GNSS now consist of four independent global satellite…
Vehicular Networks are one of the enabling technologies for cooperative Intelligent Transportation Systems. For accurate and precise time synchronization in vehicular networks, Global Navigation Satellite System (GNSS) is getting increasing…
Grasping of novel objects in pick and place applications is a fundamental and challenging problem in robotics, specifically for complex-shaped objects. It is observed that the well-known strategies like \textit{i}) grasping from the…
Grasping in cluttered scenes has always been a great challenge for robots, due to the requirement of the ability to well understand the scene and object information. Previous works usually assume that the geometry information of the objects…
We propose an unsupervised vision-based system to estimate the joint configurations of the robot arm from a sequence of RGB or RGB-D images without knowing the model a priori, and then adapt it to the task of category-independent…
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…
Global Navigation Satellite System (GNSS) receivers provide ubiquitous and precise position, navigation, and time (PNT) to a wide gamut of civilian and tactical infrastructures and devices. Due to the low GNSS received signal power, even…
In autonomous robotic systems, precise localization is a prerequisite for safe navigation. However, in complex urban environments, GNSS positioning often suffers from signal occlusion and multipath effects, leading to unreliable absolute…
Sensor calibration is crucial for autonomous driving, providing the basis for accurate localization and consistent data fusion. Enabling the use of high-accuracy GNSS sensors, this work focuses on the antenna lever arm calibration. We…
The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…
The global averaged civilian positioning accuracy is still at meter level for all existing Global Navigation Satellite Systems (GNSSs), and the performance is even worse in urban areas. At lower altitudes than satellites, high altitude…