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A novel unsupervised outlier score, which can be embedded into graph based dimensionality reduction techniques, is presented in this work. The score uses the directed nearest neighbor graphs of those techniques. Hence, the same measure of…
Object detection in autonomous driving suffers from motion blur and saturation under fast motion and extreme lighting. Spike cameras, offer microsecond latency and ultra high dynamic range for object detection by using per pixel…
After years of growth, drone-based delivery is transforming logistics. At its core, real-time 6-DoF drone pose tracking enables precise flight control and accurate drone landing. With the widespread availability of urban 3D maps, the Visual…
We propose a technique to develop (and localize in) topological maps from light detection and ranging (Lidar) data. Localizing an autonomous vehicle with respect to a reference map in real-time is crucial for its safe operation. Owing to…
Predicting future trajectories of traffic agents in highly interactive environments is an essential and challenging problem for the safe operation of autonomous driving systems. On the basis of the fact that self-driving vehicles are…
Predicting future trajectories of traffic agents in highly interactive environments is an essential and challenging problem for the safe operation of autonomous driving systems. On the basis of the fact that self-driving vehicles are…
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in…
Cameras and LiDAR are essential sensors for autonomous vehicles. The fusion of camera and LiDAR data addresses the limitations of individual sensors but relies on precise extrinsic calibration. Recently, numerous end-to-end calibration…
Accurate and robust state estimation at nighttime is essential for autonomous robotic navigation to achieve nocturnal or round-the-clock tasks. An intuitive question arises: Can low-cost standard cameras be exploited for nocturnal state…
Scene flow provides crucial motion information for autonomous driving. Recent LiDAR scene flow models utilize the rigid-motion assumption at the instance level, assuming objects are rigid bodies. However, these instance-level methods are…
We present LiDAR-GS, a Gaussian Splatting (GS) method for real-time, high-fidelity re-simulation of LiDAR scans in public urban road scenes. Recent GS methods proposed for cameras have achieved significant advancements in real-time…
The emergence of 6G-enabled Internet of Vehicles (IoV) promises to revolutionize mobility and connectivity, integrating vehicles into a mobile Internet of Things (IoT)-oriented wireless sensor network (WSN). Meanwhile, 5G technologies and…
Photorealistic 3D scene reconstruction plays an important role in autonomous driving, enabling the generation of novel data from existing datasets to simulate safety-critical scenarios and expand training data without additional acquisition…
Recent 3D Gaussian Splatting (3DGS) methods have demonstrated the feasibility of self-driving scene reconstruction and novel view synthesis. However, most existing methods either rely solely on cameras or use LiDAR only for Gaussian…
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…
Event cameras are an interesting visual exteroceptive sensor that reacts to brightness changes rather than integrating absolute image intensities. Owing to this design, the sensor exhibits strong performance in situations of challenging…
Simultaneous Localization and Mapping (SLAM) is a fundamental task to mobile and aerial robotics. LiDAR based systems have proven to be superior compared to vision based systems due to its accuracy and robustness. In spite of its…
Accurate information about the location and orientation of a camera in mobile devices is central to the utilization of location-based services (LBS). Most of such mobile devices rely on GPS data but this data is subject to inaccuracy due to…
Sensor-based perception on vehicles are becoming prevalent and important to enhance the road safety. Autonomous driving systems use cameras, LiDAR, and radar to detect surrounding objects, while human-driven vehicles use them to assist the…