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Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

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…

Perception is a cornerstone of autonomous driving, enabling vehicles to understand their surroundings and make safe, reliable decisions. Developing robust perception algorithms requires large-scale, high-quality datasets that cover diverse…

Road traffic forecasting plays a critical role in smart city initiatives and has experienced significant advancements thanks to the power of deep learning in capturing non-linear patterns of traffic data. However, the promising results…

Because 3D structure of a roadway environment can be characterized directly by a Light Detection and Ranging (LiDAR) sensors, they can be used to obtain exceptional situational awareness for assitive and autonomous driving systems. Although…

With the increasing global popularity of self-driving cars, there is an immediate need for challenging real-world datasets for benchmarking and training various computer vision tasks such as 3D object detection. Existing datasets either…

Automated vehicles require an accurate perception of their surroundings for safe and efficient driving. Lidar-based object detection is a widely used method for environment perception, but its performance is significantly affected by…

LiDAR sensors provide high-resolution 3D perception and long-range detection, making them indispensable for autonomous driving and robotics. However, their performance significantly degrades under adverse weather conditions such as snow,…

LiDAR-based localization serves as a critical component in autonomous systems, yet existing approaches face persistent challenges in balancing repeatability, accuracy, and environmental adaptability. Traditional point cloud registration…

The past few years have witnessed an increasing interest in improving the perception performance of LiDARs on autonomous vehicles. While most of the existing works focus on developing new deep learning algorithms or model architectures, we…

Robust perception in automated driving requires reliable performance under adverse conditions, where sensors may be affected by partial failures or environmental occlusions. Although existing autonomous driving datasets inherently contain…

Current Vehicle-to-Everything (V2X) systems have significantly enhanced 3D object detection using LiDAR and camera data. However, these methods suffer from performance degradation in adverse weather conditions. The weather-robust 4D radar…

Scene flow allows autonomous vehicles to reason about the arbitrary motion of multiple independent objects which is the key to long-term mobile autonomy. While estimating the scene flow from LiDAR has progressed recently, it remains largely…

Accurate 3D trajectory data is crucial for advancing autonomous driving. Yet, traditional datasets are usually captured by fixed sensors mounted on a car and are susceptible to occlusion. Additionally, such an approach can precisely…

Most existing mobile robotic datasets primarily capture static scenes, limiting their utility for evaluating robotic performance in dynamic environments. To address this, we present a mobile robot oriented large-scale indoor dataset,…

Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…

Perception systems of autonomous vehicles are susceptible to occlusion, especially when examined from a vehicle-centric perspective. Such occlusion can lead to overlooked object detections, e.g., larger vehicles such as trucks or buses may…

In this paper, we study the problem of unsupervised object detection from 3D point clouds in self-driving scenes. We present a simple yet effective method that exploits (i) point clustering in near-range areas where the point clouds are…

LiDAR sensors used in autonomous driving applications are negatively affected by adverse weather conditions. One common, but understudied effect, is the condensation of vehicle gas exhaust in cold weather. This everyday phenomenon can…

One key vertical application that will be enabled by 6G is the automation of the processes with the increased use of robots. As a result, sensing and localization of the surrounding environment becomes a crucial factor for these robots to…