Related papers: GPR-OdomNet: Difference and Similarity-Driven Odom…

Conventional SLAM systems using visual or LiDAR data often struggle in poor lighting and severe weather. Although 4D radar is suited for such environments, its sparse and noisy point clouds hinder accurate odometry estimation, while the…

In autonomous driving, robust place recognition is critical for global localization and loop closure detection. While inter-modality fusion of camera and LiDAR data in multimodal place recognition (MPR) has shown promise in overcoming the…

Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on…

To augment training data for machine learning models in Ground Penetrating Radar (GPR) data classification and identification, this thesis focuses on the generation of realistic GPR data using Generative Adversarial Networks. An innovative…

In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…

Navigating dynamic physical environments without obstructing or damaging human assets is of quintessential importance for social robots. In this work, we solve autonomous drone navigation's sub-problem of predicting out-of-domain human and…

Probabilistic state-estimation approaches offer a principled foundation for designing localization systems, because they naturally integrate sequences of imperfect motion and exteroceptive sensor data. Recently, probabilistic localization…

Robust 3D object detection is critical for safe autonomous driving. Camera and radar sensors are synergistic as they capture complementary information and work well under different environmental conditions. Fusing camera and radar data is…

Compared with traditional empirical mode decomposition (EMD) methods, variational mode decomposition (VMD) has strong theoretical foundation and high operational efficiency. The VMD method is introduced to ground penetrating radar (GPR)…

We propose a novel distance-based regularization method for deep metric learning called Multi-level Distance Regularization (MDR). MDR explicitly disturbs a learning procedure by regularizing pairwise distances between embedding vectors…

Optimal transport provides a robust framework for comparing probability distributions. Its effectiveness is significantly influenced by the choice of the underlying ground metric. Traditionally, the ground metric has either been (i)…

The integration of satellite-derived aerosol optical depth (AOD) and station-measured PM2.5 provides a promising approach for obtaining spatial PM2.5 data. Several spatiotemporal models, which considered spatial and temporal heterogeneities…

In this thesis a probabilistic framework is developed and proposed for Dynamic Object Recognition in 3D Environments. A software package is developed using C++ and Python in ROS that performs the detection and tracking task. Furthermore, a…

Recommender systems inherently exhibit a low-rank structure in latent space. A key challenge is to define meaningful and measurable distances in the latent space to capture user-user, item-item, user-item relationships effectively. In this…

Radar detects stable, long-range objects under variable weather and lighting conditions, making it a reliable and versatile sensor well suited for ego-motion estimation. In this work, we propose a radar-only odometry pipeline that is highly…

Baseline generation for tracking applications is a difficult task when working with real world radar data. Data sparsity usually only allows an indirect way of estimating the original tracks as most objects' centers are not represented in…

Nearshore bathymetry, the topography of the ocean floor in coastal zones, is vital for predicting the surf zone hydrodynamics and for route planning to avoid subsurface features. Hence, it is increasingly important for a wide variety of…

TSNE and UMAP are two of the most popular dimensionality reduction algorithms due to their speed and interpretable low-dimensional embeddings. However, while attempts have been made to improve on TSNE's computational complexity, no existing…

The clutter in the ground-penetrating radar (GPR) radargram disguises or distorts subsurface target responses, which severely affects the accuracy of target detection and identification. Existing clutter removal methods either leave…

Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…