Related papers: Less is More: Physical-enhanced Radar-Inertial Odo…
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…
We propose a novel direct sparse visual odometry formulation. It combines a fully direct probabilistic model (minimizing a photometric error) with consistent, joint optimization of all model parameters, including geometry -- represented as…
Light Detection and Ranging (LiDAR) sensors have become a de-facto sensor for many robot state estimation tasks, spurring development of many LiDAR Odometry (LO) methods in recent years. While some smoothing-based LO methods have been…
Today, rail vehicle localization is based on infrastructure-side Balises (beacons) together with on-board odometry to determine whether a rail segment is occupied. Such a coarse locking leads to a sub-optimal usage of the rail networks. New…
4D radar is increasingly attractive for robotic mapping because it provides range, azimuth, elevation, and Doppler measurements while remaining robust in adverse visibility conditions. Although recent radar and radar--inertial odometry…
Pose estimation and map building are central ingredients of autonomous robots and typically rely on the registration of sensor data. In this paper, we investigate a new metric for registering images that builds upon on the idea of the…
In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed an online learning-based leg kinematics model named the…
Localization of robots using subsurface features observed by ground-penetrating radar (GPR) enhances and adds robustness to common sensor modalities, as subsurface features are less affected by weather, seasons, and surface changes. We…
LiDAR odometry is essential for many robotics applications, including 3D mapping, navigation, and simultaneous localization and mapping. LiDAR odometry systems are usually based on some form of point cloud registration to compute the…
This study proposes a multi-radar system for non-contact physiological sensing across arbitrary body orientations. In integrating signals obtained from different radar viewpoints, we adopt a multivariate variational mode decomposition…
Event cameras, inspired by biological vision, are asynchronous sensors that detect changes in brightness, offering notable advantages in environments characterized by high-speed motion, low lighting, or wide dynamic range. These distinctive…
To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes…
Doppler radar systems enable unobtrusive and privacy-preserving long-term monitoring of human motions indoors. In particular, a person's gait can provide important information about their state of health. Utilizing micro-Doppler signatures,…
In this paper, we propose a novel laser-inertial odometry and mapping method to achieve real-time, low-drift and robust pose estimation in large-scale highway environments. The proposed method is mainly composed of four sequential modules,…
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…
This paper proposes an approach for fusing direct radiometric data from a thermal camera with inertial measurements to extend the robotic capabilities of aerial robots for navigation in GPS-denied and visually degraded environments in the…
A derivation of the properties of pulsed radiative imaging systems is presented with examples drawn from conventional, synthetic aperture, and interferometric radar. A geometric construction of the space and time components of a radar…
We demonstrate the feasibility of the radar-based measurement of body movements in scenarios involving multiple students using a pair of 79-GHz millimeter-wave radar systems with array antennas. We quantify the body motion using the Doppler…
High-resolution radar sensors are able to resolve multiple detections per object and therefore provide valuable information for vehicle environment perception. For instance, multiple detections allow to infer the size of an object or to…
Event cameras have garnered considerable attention due to their advantages over traditional cameras in low power consumption, high dynamic range, and no motion blur. This paper proposes a monocular event-inertial odometry incorporating an…