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This paper represents the novel high precision localization approach for Automated Driving (AD) relative to 3D map. The AD maps are not necessarily flat. Hence, the problem of localization is solved here in 3D. The vehicle motion is modeled…
Camera placement is crutial in multi-camera systems such as virtual reality, autonomous driving, and high-quality reconstruction. The camera placement challenge lies in the nonlinear nature of high-dimensional parameters and the…
Underwater vehicles have emerged as a critical technology for exploring and monitoring aquatic environments. The deployment of multi-vehicle systems has gained substantial interest due to their capability to perform collaborative tasks with…
Unsupervised change detection between airborne LiDAR data points, taken at separate times over the same location, can be difficult due to unmatching spatial support and noise from the acquisition system. Most current approaches to detect…
Advances in autonomous driving are inseparable from sensor fusion. Heterogeneous sensors are widely used for sensor fusion due to their complementary properties, with radar and camera being the most equipped sensors. Intrinsic and extrinsic…
3D object detection serves as the core basis of the perception tasks in autonomous driving. Recent years have seen the rapid progress of multi-modal fusion strategies for more robust and accurate 3D object detection. However, current…
Autonomous driving demands accurate perception and safe decision-making. To achieve this, automated vehicles are now equipped with multiple sensors (e.g., camera, Lidar, etc.), enabling them to exploit complementary environmental context by…
We consider the problem of direction finding using partly calibrated arrays, a distributed subarray with position errors between subarrays. The key challenge is to enhance angular resolution in the presence of position errors. To achieve…
Tracking and measuring targets using a variety of sensors mounted on UAVs is an effective means to quickly and accurately locate the target. This paper proposes a fusion localization method based on ridge estimation, combining the…
Object counting and localization are key steps for quantitative analysis in large-scale microscopy applications. This procedure becomes challenging when target objects are overlapping, are densely clustered, and/or present fuzzy boundaries.…
We study a scenario where an aircraft has multiple heterogeneous sensors collecting measurements to track a target vehicle of unknown location. The measurements are sampled along the flight path and our goals to optimize sensor placement to…
As the world becomes more and more interconnected, our everyday objects become part of the Internet of Things, and our lives get more and more mirrored in virtual reality, where every piece of~information, including misinformation, fake…
Autonomous racing has rapidly gained research attention. Traditionally, racing cars rely on 2D LiDAR as their primary visual system. In this work, we explore the integration of an event camera with the existing system to provide enhanced…
We consider the problem of localizing the source using range and range-difference measurements. Both the problems are non-convex and non-smooth and are challenging to solve. In this paper, we develop an iterative algorithm - Source…
3D scene models are useful in robotics for tasks such as path planning, object manipulation, and structural inspection. We consider the problem of creating a 3D model using depth images captured by a team of multiple robots. Each robot…
We introduce Multi-Source 3D (MS3D), a new self-training pipeline for unsupervised domain adaptation in 3D object detection. Despite the remarkable accuracy of 3D detectors, they often overfit to specific domain biases, leading to…
This paper presents a range inertial localization algorithm for a 3D prior map. The proposed algorithm tightly couples scan-to-scan and scan-to-map point cloud registration factors along with IMU factors on a sliding window factor graph.…
Addressing the communication and sensing demands of sixth-generation (6G) mobile communication system, integrated sensing and communication (ISAC) has garnered traction in academia and industry. With the sensing limitation of single base…
Extensive research has been conducted on assessing grasp stability, a crucial prerequisite for achieving optimal grasping strategies, including the minimum force grasping policy. However, existing works employ basic feature-level fusion…
In this paper, we present an extension to LaserNet, an efficient and state-of-the-art LiDAR based 3D object detector. We propose a method for fusing image data with the LiDAR data and show that this sensor fusion method improves the…