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One of the main paths towards the reduction of traffic accidents is the increase in vehicle safety through driver assistance systems or even systems with a complete level of autonomy. In these types of systems, tasks such as obstacle…
LiDAR is playing a more and more essential role in autonomous driving vehicles for objection detection, self localization and mapping. A single LiDAR frequently suffers from hardware failure (e.g., temporary loss of connection) due to the…
An optimal solution to the localization problem is essential for developing autonomous robotic systems. Apart from autonomous vehicles, precision agriculture is one of the elds that can bene t most from these systems. Although LiDAR place…
Sensor-based environmental perception is a crucial part of the autonomous driving system. In order to get an excellent perception of the surrounding environment, an intelligent system would configure multiple LiDARs (3D Light Detection and…
When using LiDAR semantic segmentation models for safety-critical applications such as autonomous driving, it is essential to understand and improve their robustness with respect to a large range of LiDAR corruptions. In this paper, we aim…
LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…
With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…
Uncertainty in LiDAR measurements, stemming from factors such as range sensing, is crucial for LIO (LiDAR-Inertial Odometry) systems as it affects the accurate weighting in the loss function. While recent LIO systems address uncertainty…
LiDAR-based 3D detection plays a vital role in autonomous navigation. Surprisingly, although autonomous vehicles (AVs) must detect both near-field objects (for collision avoidance) and far-field objects (for longer-term planning),…
Nowadays, static, mobile, terrestrial, and airborne laser scanning technologies have become familiar data sources for engineering work, especially in the area of land surveying. The diversity of Light Detection and Ranging (LiDAR) data…
A complete overview of the surrounding vehicle environment is important for driver assistance systems and highly autonomous driving. Fusing results of multiple sensor types like camera, radar and lidar is crucial for increasing the…
Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
This paper as technology report is focusing on evaluation and performance about depth estimations based on lidar data and stereo images(front left and front right). The lidar 3d cloud data and stereo images are provided by ford. In…
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…
The proposal of Pseudo-Lidar representation has significantly narrowed the gap between visual-based and active Lidar-based 3D object detection. However, current researches exclusively focus on pushing the accuracy improvement of…
In the past ten years, the use of 3D Time-of-Flight (ToF) LiDARs in mobile robotics has grown rapidly. Based on our accumulation of relevant research, this article systematically reviews and analyzes the use 3D ToF LiDARs in research and…
Differentiable rendering methods promise the ability to optimize various parameters of 3d scenes to achieve a desired result. However, lighting design has so far received little attention in this field. In this paper, we introduce a method…
Light Detection and Ranging (LiDAR) are fast emerging sensors in the field of Earth Observation. It is a remote sensing technology that utilizes laser beams to measure distances and create detailed three-dimensional representations of…
Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…