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Recently, the robotics community has regained interest in radar-based perception and state estimation. A 2D imaging radar provides dense 360deg information about the environment. Despite the radar antenna's cone of emission and reception,…
An algorithm for pose and motion estimation using corresponding features in omnidirectional images and a digital terrain map is proposed. In previous paper, such algorithm for regular camera was considered. Using a Digital Terrain (or…
Cost-effective localization methods for Autonomous Underwater Vehicle (AUV) navigation are key for ocean monitoring and data collection at high resolution in time and space. Algorithmic solutions suitable for real-time processing that…
We propose POLAR, a novel radar-guided depth estimation method that introduces polynomial fitting to efficiently transform scaleless depth predictions from pretrained monocular depth estimation (MDE) models into metric depth maps. Unlike…
Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique…
LiDAR odometry (LO) describes the task of finding an alignment of subsequent LiDAR point clouds. This alignment can be used to estimate the motion of the platform where the LiDAR sensor is mounted on. Currently, on the well-known KITTI…
Place recognition is a challenging problem in mobile robotics, especially in unstructured environments or under viewpoint and illumination changes. Most LiDAR-based methods rely on geometrical features to overcome such challenges, as…
Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms. In comparison with existing VO and V-SLAM algorithms, semi-direct visual…
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…
This paper presents a novel visual-LiDAR odometry and mapping method with low-drift characteristics. The proposed method is based on two popular approaches, ORB-SLAM and A-LOAM, with monocular scale correction and visual-bootstrapped LiDAR…
Robust and accurate localization in challenging environments is becoming crucial for SLAM. In this paper, we propose a unique sensor configuration for precise and robust odometry by integrating chip radar and a legged robot. Specifically,…
Autonomous driving systems are set to become a reality in transport systems and, so, maximum acceptance is being sought among users. Currently, the most advanced architectures require driver intervention when functional system failures or…
This letter presents an effective method for assessing the feasibility of detecting ocean ships using spaceborne synthetic aperture radar (SAR). The technique employs the minimum detectable radar cross-section criterion under specified…
This paper considers the beamforming optimization for sensing a point-like scatterer using a bistatic multiple-input multiple-output (MIMO) orthogonal frequency-division multiplexing (OFDM) radar, which could be part of a joint…
Underwater robot perception is crucial in scientific subsea exploration and commercial operations. The key challenges include non-uniform lighting and poor visibility in turbid environments. High-frequency forward-look sonar cameras address…
X-band radar serves as the primary sensor on maritime vessels, however, its application in autonomous navigation has been limited due to low sensor resolution and insufficient information content. To enable X-band radar-only autonomous…
Currently, visual odometry and LIDAR odometry are performing well in pose estimation in some typical environments, but they still cannot recover the localization state at high speed or reduce accumulated drifts. In order to solve these…
Millimeter wave radar is becoming increasingly popular as a sensing modality for robotic mapping and state estimation. However, there are very few publicly available datasets that include dense, high-resolution millimeter wave radar scans…
Accurate orientation estimation of objects can aid in scene understanding in many applications. In this paper, we consider use cases where passive tags could be deployed to assist radar systems in estimating object orientation. Towards that…
Detecting and tracking ground objects using earth observation imagery remains a significant challenge in the field of remote sensing. Continuous maritime ship tracking is crucial for applications such as maritime search and rescue, law…