Related papers: Enhancing Autonomous Navigation by Imaging Hidden …
Vehicle overtaking is one of the most complex driving maneuvers for autonomous vehicles. To achieve optimal autonomous overtaking, driving systems rely on multiple sensors that enable safe trajectory optimization and overtaking efficiency.…
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either…
Pedestrians Localization in Non-Line-of-Sight (NLoS) regions within urban environments poses a significant challenge for autonomous driving systems. While mmWave radar has demonstrated potential for detecting objects in such scenarios, the…
In this paper, we introduce a LiDAR-based robot navigation system, based on novel object-aware affordance-based costmaps. Utilizing a 3D object detection network, our system identifies objects of interest in LiDAR keyframes, refines their…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
The global navigation satellite systems (GNSS) play a vital role in transport systems for accurate and consistent vehicle localization. However, GNSS observations can be distorted due to multipath effects and non-line-of-sight (NLOS)…
We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…
How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…
There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…
The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…
Extrinsic perturbation always exists in multiple sensors. In this paper, we focus on the extrinsic uncertainty in multi-LiDAR systems for 3D object detection. We first analyze the influence of extrinsic perturbation on geometric tasks with…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…
Multi-agent multi-lidar sensor fusion between connected vehicles for cooperative perception has recently been recognized as the best technique for minimizing the blind zone of individual vehicular perception systems and further enhancing…
Existing time-resolved non-line-of-sight (NLOS) imaging methods reconstruct hidden scenes by inverting the optical paths of indirect illumination measured at visible relay surfaces. These methods are prone to reconstruction artifacts due to…
We embark on a hitherto unreported problem of an autonomous robot (self-driving car) navigating in dynamic scenes in a manner that reduces its localization error and eventual cumulative drift or Absolute Trajectory Error, which is…
In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…
Autonomous vehicles rely on LiDAR sensors to detect obstacles such as pedestrians, other vehicles, and fixed infrastructures. LiDAR spoofing attacks have been demonstrated that either create erroneous obstacles or prevent detection of real…
LiDAR sensors are often considered essential for autonomous driving, but high-resolution sensors remain expensive while affordable low-resolution sensors produce sparse point clouds that miss critical details. LiDAR super-resolution…