Related papers: Tiny LiDARs for Manipulator Self-Awareness: Sensor…
We present TOPGN, a novel method for real-time transparent obstacle detection for robot navigation in unknown environments. We use a multi-layer 2D grid map representation obtained by summing the intensities of lidar point clouds that lie…
Object detection algorithms for Lidar data have seen numerous publications in recent years, reporting good results on dataset benchmarks oriented towards automotive requirements. Nevertheless, many of these are not deployable to embedded…
Light-weight time-of-flight (ToF) depth sensors are compact and cost-efficient, and thus widely used on mobile devices for tasks such as autofocus and obstacle detection. However, due to the sparse and noisy depth measurements, these…
Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…
Lidar sensors are widely used in various applications, ranging from scientific fields over industrial use to integration in consumer products. With an ever growing number of different driver assistance systems, they have been introduced to…
Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…
The awareness about moving objects in the surroundings of a self-driving vehicle is essential for safe and reliable autonomous navigation. The interpretation of LiDAR and camera data achieves exceptional results but typically requires to…
Search and Rescue (SAR) missions in harsh and unstructured Sub-Terranean (Sub-T) environments in the presence of aerosol particles have recently become the main focus in the field of robotics. Aerosol particles such as smoke and dust…
State-of-the-art time-of-flight (ToF) based 3D sensors suffer from poor lateral and depth resolutions. In this work, we introduce a novel sensor concept that provides ToF-based 3D measurements of real world objects with depth precisions up…
We present an analytic model for simulating automotive time-of-flight (ToF) LiDAR that includes blooming, echo pulse width, and ambient light, along with steps to determine model parameters systematically through optical laboratory…
Visible light communication (VLC) systems are promising candidates for future indoor access and peer-to-peer networks. The performance of these systems, however, is vulnerable to the line of sight (LOS) link blockage due to objects inside…
Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwater robots. While acoustic sensing is the most acknowledged…
In this work, we present a detailed comparison of ten different 3D LiDAR sensors, covering a range of manufacturers, models, and laser configurations, for the tasks of mapping and vehicle localization, using as common reference the Normal…
We envision that in the near future, humanoid robots would share home space and assist us in our daily and routine activities through object manipulations. One of the fundamental technologies that need to be developed for robots is to…
Multi-robot localization has been a critical problem for robots performing complex tasks cooperatively. In this paper, we propose a decentralized approach to localize a group of robots in a large featureless environment. The proposed…
As human-machine interaction continues to evolve, the capacity for environmental perception is becoming increasingly crucial. Integrating the two most common types of sensory data, images, and point clouds, can enhance detection accuracy.…
Recently, Vehicle-to-Everything(V2X) cooperative perception has attracted increasing attention. Infrastructure sensors play a critical role in this research field; however, how to find the optimal placement of infrastructure sensors is…
We present a method for the unattended gray-box identification of sensor models commonly used by localization algorithms in the field of robotics. The objective is to determine the most likely sensor model for a time series of unknown…
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…
Mobile robots equipped with multiple light detection and ranging (LiDARs) and capable of recognizing their surroundings are increasing due to the minitualization and cost reduction of LiDAR. This paper proposes a target-less extrinsic…