Related papers: Enhancing Autonomous Navigation by Imaging Hidden …
Deploying advanced imaging solutions to robotic and autonomous systems by mimicking human vision requires simultaneous acquisition of multiple fields of views, named the peripheral and fovea regions. Low-resolution peripheral field provides…
This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…
Autonomous systems possess the features of inferring their own state, understanding their surroundings, and performing autonomous navigation. With the applications of learning systems, like deep learning and reinforcement learning, the…
Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…
Efficient structural perception is essential for mapping and autonomous navigation on resource-constrained robots. Existing 3D methods are computationally prohibitive, while traditional 2D geometric approaches lack robustness. This paper…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
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…
LiDAR place recognition is a crucial module in localization that matches the current location with previously observed environments. Most existing approaches in LiDAR place recognition dominantly focus on the spinning type LiDAR to exploit…
Traffic volume data collection is a crucial aspect of transportation engineering and urban planning, as it provides vital insights into traffic patterns, congestion, and infrastructure efficiency. Traditional manual methods of traffic data…
This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and control strategies. Over the past decade, LiDAR technology has…
Autonomous highway driving, especially for long-haul heavy trucks, requires detecting objects at long ranges beyond 500 meters to satisfy braking distance requirements at high speeds. At long distances, vehicles and other critical objects…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
Non-line-of-sight (NLOS) imaging, recovering the hidden volume from indirect reflections, has attracted increasing attention due to its potential applications. Despite promising results, existing NLOS reconstruction approaches are…
With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
This paper presents a state-of-the-art LiDAR based autonomous navigation system for under-canopy agricultural robots. Under-canopy agricultural navigation has been a challenging problem because GNSS and other positioning sensors are prone…
Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…
Non-line-of-sight (NLOS) operation is one of the open issues to be solved for integrated sensing and communication (ISAC) systems to become a pillar of the future wireless infrastructure above 10 GHz. Existing NLOS countermeasures use…
The classification and the position estimation of objects become more and more relevant as the field of robotics is expanding in diverse areas of society. In this Bachelor Thesis, we developed a cone detection algorithm for an autonomous…