Related papers: Robust Radar Mounting Angle Estimation in Operatio…
Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integration models are introduced using different assumptions on the…
Unmanned aerial vehicles (UAVs) have increasingly been adopted for safety, security, and rescue missions, for which they need precise and reliable pose estimates relative to their environment. To ensure mission safety when relying on visual…
Automotive radar emerges as a crucial sensor for autonomous vehicle perception. As more cars are equipped radars, radar interference is an unavoidable challenge. Unlike conventional approaches such as interference mitigation and…
The problem of 3D high-resolution imaging in automotive multiple-input multiple-output (MIMO) side-looking radar using a 1D array is considered. The concept of motion-enhanced snapshots is introduced for generating larger apertures in the…
Radar is usually more robust than the camera in severe driving scenarios, e.g., weak/strong lighting and bad weather. However, unlike RGB images captured by a camera, the semantic information from the radar signals is noticeably difficult…
Autonomous driving is an important trend of the automotive industry. The continuous research towards this goal requires a precise reference vehicle state estimation under all circumstances in order to develop and test autonomous vehicle…
We propose a metric called the bistatic radar detection coverage probability to evaluate the detection performance of a bistatic radar under discrete clutter conditions. Such conditions are commonly encountered in indoor and outdoor…
Vehicles of higher automation levels require the creation of situation awareness. One important aspect of this situation awareness is an understanding of the current risk of a driving situation. In this work, we present a novel approach for…
In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits…
This paper studies a multiple-input multiple-output (MIMO) radar system for sensing the unknown and random angular location (angle) of a point target, based on the target-reflected echo signals and known prior distribution information about…
This paper sets a new foundation for data-driven inertial navigation research, where the task is the estimation of positions and orientations of a moving subject from a sequence of IMU sensor measurements. More concretely, the paper…
As driving becomes more automated, vehicles are being equipped with more sensors generating even higher data rates. Radars (RAdio Detection and Ranging) are used for object detection, visual cameras as virtual mirrors, and LIDARs (LIght…
Detecting and tracking objects is a crucial component of any autonomous navigation method. For the past decades, object detection has yielded promising results using neural networks on various datasets. While many methods focus on…
Radar sensors are low cost, long-range, and weather-resilient. Therefore, they are widely used for driver assistance functions, and are expected to be crucial for the success of autonomous driving in the future. In many perception tasks…
Detecting dangerous driving has been of critical interest for the past few years. However, a practical yet minimally intrusive solution remains challenging as existing technologies heavily rely on visual features or physical proximity. With…
Fast flights with aggressive maneuvers in cluttered GNSS-denied environments require fast, reliable, and accurate UAV state estimation. In this paper, we present an approach for onboard state estimation of a high-speed UAV using a monocular…
Radar systems are mainly used for tracking aircraft, missiles, satellites, and watercraft. In many cases, information regarding the objects detected by the radar system is sent to, and used by, a peripheral consuming system, such as a…
Utilizing radar sensing for assisting communication has attracted increasing interest thanks to its potential in dynamic environments. A particularly interesting problem for this approach appears in the vehicle-to-vehicle (V2V) millimeter…
This paper presents an infrastructure-free approach for obstacle detection and environmental mapping using ultra-wideband (UWB) radar mounted on a mobile robotic platform. Traditional sensing modalities such as visual cameras and Light…
Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localization. Existing GNSS-aided approaches often rely on positioning…