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This paper details an application which yields significant improvements to the adeptness of place recognition with Frequency-Modulated Continuous-Wave radar - a commercially promising sensor poised for exploitation in mobile autonomy. We…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…
Millimeter-wave (mmw) radar is indispensable for Intelligent Transportation Systems (ITS), which can monitor traffic conditions in all weathers. An end-to-end simulation method for mmw radar monitoring and identification at traffic…
Cooperative intelligent transportation systems (ITS) are used by autonomous vehicles to communicate with surrounding autonomous vehicles and roadside units (RSU). Current C-ITS applications focus primarily on real-time information sharing,…
Upcoming Intelligent Transportation Systems (ITSs) will transform roads from static resources to dynamic Cyber Physical Systems (CPSs) in order to satisfy the requirements of future vehicular traffic in smart city environments. Up-to-date…
In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…
Estimating vehicles' locations is one of the key components in intelligent traffic management systems (ITMSs) for increasing traffic scene awareness. Traditionally, stationary sensors have been employed in this regard. The development of…
While automotive radar sensors are widely adopted and have been used for automatic cruise control and collision avoidance tasks, their application outside of vehicles is still limited. As they have the ability to resolve multiple targets in…
We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…
Intelligent transport systems (ITS) are pivotal in the development of sustainable and green urban living. ITS is data-driven and enabled by the profusion of sensors ranging from pneumatic tubes to smart cameras. This work explores a novel…
Building a fully autonomous self-driving system has been discussed for more than 20 years yet remains unsolved. Previous systems have limited ability to scale. Their localization subsystem needs labor-intensive map recording for running in…
IP Geolocation is a key enabler for the Future Internet to provide geographical location information for application services. For example, this data is used by Content Delivery Networks to assign users to mirror servers, which are close…
In this paper, we investigate a self-sensing intelligent reflecting surface (IRS) aided millimeter wave (mmWave) integrated sensing and communication (ISAC) system. Unlike the conventional purely passive IRS, the self-sensing IRS can…
Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements…
Environment modeling utilizing sensor data fusion and object tracking is crucial for safe automated driving. In recent years, the classical occupancy grid map approach, which assumes a static environment, has been extended to dynamic…
Sensor fusion is crucial for an accurate and robust perception system on autonomous vehicles. Most existing datasets and perception solutions focus on fusing cameras and LiDAR. However, the collaboration between camera and radar is…
The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…
This work describes the implementation of a simple and computationally efficient Intelligent Navigation System (INS) for autonomous systems used in areas where human access is impossible. The system uses Laser Range Finder (LRF) readings as…
Publicly available satellite imagery can be an ubiquitous, cheap, and powerful tool for vehicle localisation when a prior sensor map is unavailable. However, satellite images are not directly comparable to data from ground range sensors…
Autonomous driving requires a detailed understanding of complex driving scenes. The redundancy and complementarity of the vehicle's sensors provide an accurate and robust comprehension of the environment, thereby increasing the level of…