Related papers: GPR-OdomNet: Difference and Similarity-Driven Odom…
Recently, 4D millimetre-wave radar exhibits more stable perception ability than LiDAR and camera under adverse conditions (e.g. rain and fog). However, low-quality radar points hinder its application, especially the odometry task that…
This paper presents an accurate, highly efficient, and learning-free method for large-scale odometry estimation using spinning radar, empirically found to generalize well across very diverse environments -- outdoors, from urban to woodland,…
The reconstruction of the 3D permittivity map from ground-penetrating radar (GPR) data is of great importance for mapping subsurface environments and inspecting underground structural integrity. Traditional iterative 3D reconstruction…
Existing radar sensors can be classified into automotive and scanning radars. While most radar odometry (RO) methods are only designed for a specific type of radar, our RO method adapts to both scanning and automotive radars. Our RO is…
Ground penetrating radar (GPR) based localization has gained significant recognition in robotics due to its ability to detect stable subsurface features, offering advantages in environments where traditional sensors like cameras and LiDAR…
Traditional ground-penetrating radar (GPR) data inversion leverages iterative algorithms which suffer from high computation costs and low accuracy when applied to complex subsurface scenarios. Existing deep learning-based methods focus on…
In this paper we consider the development of algorithms for the automatic detection of buried threats using ground penetrating radar (GPR) measurements. GPR is one of the most studied and successful modalities for automatic buried threat…
Terrain classification is an important problem for mobile robots operating in extreme environments as it can aid downstream tasks such as autonomous navigation and planning. While RGB cameras are widely used for terrain identification,…
This paper studies image-based geo-localization (IBL) problem using ground-to-aerial cross-view matching. The goal is to predict the spatial location of a ground-level query image by matching it to a large geotagged aerial image database…
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…
This article describes an algorithm that provides visual odometry estimates from sequential pairs of RGBD images. The key contribution of this article on RGBD odometry is that it provides both an odometry estimate and a covariance for the…
This research proposes a Ground Penetrating Radar (GPR) data processing method for non-destructive detection of tunnel lining internal defects, called defect segmentation. To perform this critical step of automatic tunnel lining detection,…
Learning-based inertial odometry has achieved remarkable progress in pedestrian navigation. However, extending these methods to quadruped robots remains challenging due to their distinct and highly dynamic motion patterns. Models that…
With the rapid development of indoor location-based services (LBSs), the demand for accurate localization keeps growing as well. To meet this demand, we propose an indoor localization algorithm based on graph convolutional network (GCN). We…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
This paper describes continuous-space methodologies to estimate the collision probability, Euclidean distance and gradient between an ellipsoidal robot model and an environment surface modeled as a set of Gaussian distributions.…
Odometer has been proven to significantly improve the accuracy of the Global Navigation Satellite System / Inertial Navigation System (GNSS/INS) integrated vehicle navigation in GNSS-challenged environments. However, the odometer is…
Ground Penetrating Radar (GPR) is widely used as a non-destructive approach to estimate buried utilities. When the GPR's detecting direction is perpendicular to a pipeline, a hyperbolic characteristic would be formed on the GPR B-scan…
Nuclear Magnetic Resonance (NMR) Spectroscopy is a widely used technique to predict the native structure of proteins. However, NMR machines are only able to report approximate and partial distances between pair of atoms. To build the…
This paper presents the accurate, highly efficient, and learning-free method CFEAR Radarodometry for large-scale radar odometry estimation. By using a filtering technique that keeps the k strongest returns per azimuth and by additionally…