Related papers: Super LiDAR Intensity for Robotic Perception
The LIght Detection And Ranging (LiDAR) sensor has become one of the most important perceptual devices due to its important role in simultaneous localization and mapping (SLAM). Existing SLAM methods are mainly developed for mechanical…
Optical imaging systems are widely used in the drone industry (optical navigation, terrain scanners), industry (distance measurement, 3D visualization), security (optical scanners and motion sensors), robotics (motion sensors, terrain or…
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…
Light detection and ranging (LiDAR) is a ubiquitous tool to provide precise spatial awareness in various perception environments. A bionic LiDAR that can mimic human-like vision by adaptively gazing at selected regions of interest within a…
3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…
LiDAR is crucial for robust 3D scene perception in autonomous driving. LiDAR perception has the largest body of literature after camera perception. However, multi-task learning across tasks like detection, segmentation, and motion…
Detecting small objects, such as drones, over long distances presents a significant challenge with broad implications for security, surveillance, environmental monitoring, and autonomous systems. Traditional imaging-based methods rely on…
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…
Autonomous cars are an emergent technology which has the capacity to change human lives. The current sensor systems which are most capable of perception are based on optical sensors. For example, deep neural networks show outstanding…
Realistic vehicle sensor simulation is an important element in developing autonomous driving. As physics-based implementations of visual sensors like LiDAR are complex in practice, data-based approaches promise solutions. Using pairs of…
Modern lidar systems can produce not only dense point clouds but also 360 degrees low-resolution images. This advancement facilitates the application of deep learning (DL) techniques initially developed for conventional RGB cameras and…
This paper presents a novel approach for enabling robust robotic perception in dark environments using infrared (IR) stream. IR stream is less susceptible to noise than RGB in low-light conditions. However, it is dominated by active emitter…
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…
The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…
Light detection and ranging (LiDAR) have emerged as a crucial tool for high-resolution 3D imaging, particularly in autonomous vehicles, remote sensing, and augmented reality. However, the increasing demand for faster acquisition speed and…
Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…
We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…
Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…
LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…
Motivated by the astonishing capabilities of natural intelligent agents and inspired by theories from psychology, this paper explores the idea that perception gets coupled to 3D properties of the world via interaction with the environment.…