Related papers: Scalable Radar-based Roadside Perception: Self-loc…
Absolute positioning of vehicles is based on Global Navigation Satellite Systems (GNSS) combined with on-board sensors and high-resolution maps. In Cooperative Intelligent Transportation Systems (C-ITS), the positioning performance can be…
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…
Future Connected and Automated Vehicles (CAV), and more generally ITS, will form a highly interconnected system. Such a paradigm is referred to as the Internet of Vehicles (herein Internet of CAVs) and is a prerequisite to orchestrate…
The localization of self-driving cars is needed for several tasks such as keeping maps updated, tracking objects, and planning. Localization algorithms often take advantage of maps for estimating the car pose. Since maintaining and using…
Although people spend most of their time indoors, outdoor tracking systems, such as the Global Positioning System (GPS), are predominantly used for location-based services. These systems are accurate outdoors, easy to use, and operate…
Radar has stronger adaptability in adverse scenarios for autonomous driving environmental perception compared to widely adopted cameras and LiDARs. Compared with commonly used 3D radars, the latest 4D radars have precise vertical resolution…
Autonomous driving perceives surroundings with line-of-sight sensors that are compromised under environmental uncertainties. To achieve real time global information in high definition map, we investigate to share perception information…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
Multi-agent cooperative perception is an increasingly popular topic in the field of autonomous driving, where roadside LiDARs play an essential role. However, how to optimize the placement of roadside LiDARs is a crucial but often…
Pervasive and mobile sensing is an integral part of smart transport and smart city applications. Vehicle-based mobile sensing, or drive-by sensing (DS), is gaining popularity in both academic research and field practice. The DS paradigm has…
In this work, we propose a method for large-scale topological localization based on radar scan images using learned descriptors. We present a simple yet efficient deep network architecture to compute a rotationally invariant discriminative…
Millimeter Waves (mmWaves) will play a pivotal role in the next-generation of Intelligent Transportation Systems (ITSs). However, in deep urban environments, sensitivity to blockages creates the need for more sophisticated network planning.…
Autonomous cars are an emergent technology which has the capacity to change human lives. The current sensor systems which are most capable of perception are based on optical sensors. For example, deep neural networks show outstanding…
Autonomous mobility systems increasingly operate in dense and dynamic environments where perception occlusions, limited sensing coverage, and multi-agent interactions pose major challenges. While onboard sensors provide essential local…
Robust and lane-level positioning is essential for autonomous vehicles. As an irreplaceable sensor, LiDAR can provide continuous and high-frequency pose estimation by means of mapping, on condition that enough environment features are…
Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…
As urban populations grow, cities are becoming more complex, driving the deployment of interconnected sensing systems to realize the vision of smart cities. These systems aim to improve safety, mobility, and quality of life through…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
The rapid urbanization growth has underscored the need for innovative solutions to enhance transportation efficiency and safety. Intelligent Transportation Systems (ITS) have emerged as a promising solution in this context. However,…
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…