Related papers: Radar-Based Localization For Autonomous Ground Veh…
Deployment of automated ground vehicles (AGVs) beyond the confines of sunny and dry climes will require sub-lane-level positioning techniques based on radio waves rather than near-visible-light radiation. Like human sight, lidar and cameras…
This paper presents a localization technique using aerial imagery maps and LIDAR based ground reflectivity for autonomous vehicles in urban environments. Traditional localization techniques using LIDAR reflectivity rely on high definition…
Off-road robotics have traditionally utilized lidar for local navigation due to its accuracy and high resolution. However, the limitations of lidar, such as reduced performance in harsh environmental conditions and limited range, have…
Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose…
Recent advancements in LiDAR technology have significantly lowered costs and improved both its precision and resolution, thereby solidifying its role as a critical component in autonomous vehicle localization. Using sophisticated 3D…
Radar odometry has been gaining attention in the last decade. It stands as one of the best solutions for robotic state estimation in unfavorable conditions; conditions where other interoceptive and exteroceptive sensors may fall short.…
Radar is a key component of the suite of perception sensors used for safe and reliable navigation of autonomous vehicles. Its unique capabilities include high-resolution velocity imaging, detection of agents in occlusion and over long…
Localization for autonomous vehicles on highways remains under-explored compared to urban roads, and state-of-the-art methods for urban scenes degrade when directly applied to highways. We identify key challenges including environment…
Localization can be achieved by different sensors and techniques such as a global positioning system (GPS), wifi, ultrasonic sensors, and cameras. In this paper, we focus on the laser-based localization method for unmanned aerial vehicle…
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…
Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
In this work we propose an alternative formulation to the problem of ground reflectivity grid based localization involving laser scanned data from multiple LIDARs mounted on autonomous vehicles. The driving idea of our localization…
Highly automated driving functions currently often rely on a-priori knowledge from maps for planning and prediction in complex scenarios like cities. This makes map-relative localization an essential skill. In this paper, we address the…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…
LiDAR-based place recognition (LPR) plays a pivotal role in autonomous driving, which assists Simultaneous Localization and Mapping (SLAM) systems in reducing accumulated errors and achieving reliable localization. However, existing reviews…
To address the challenge of autonomous UGV localization in GNSS-denied off-road environments,this study proposes a matching-based localization method that leverages BEV perception image and satellite map within a road similarity space to…
Place recognition plays an important role in achieving robust long-term autonomy. Real-world robots face a wide range of weather conditions (e.g. overcast, heavy rain, and snowing) and most sensors (i.e. camera, LiDAR) essentially…
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…
Accurate localization is a foundational capacity, required for autonomous vehicles to accomplish other tasks such as navigation or path planning. It is a common practice for vehicles to use GPS to acquire location information. However, the…