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Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…

Multi-sensor fusion using LiDAR and RGB cameras significantly enhances 3D object detection task. However, conventional LiDAR sensors perform dense, stateless scans, ignoring the strong temporal continuity in real-world scenes. This leads to…

Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…

A remote-sensing system that can determine the position of hidden objects has applications in many critical real-life scenarios, such as search and rescue missions and safe autonomous driving. Previous work has shown the ability to range…

Pedestrians Localization in Non-Line-of-Sight (NLoS) regions within urban environments poses a significant challenge for autonomous driving systems. While mmWave radar has demonstrated potential for detecting objects in such scenarios, the…

Time of flight based Non-line-of-sight (NLOS) imaging approaches require precise calibration of illumination and detector positions on the visible scene to produce reasonable results. If this calibration error is sufficiently high,…

There has been an increasing interest in deploying non-line-of-sight (NLOS) imaging systems for recovering objects behind an obstacle. Existing solutions generally pre-calibrate the system before scanning the hidden objects. Onsite…

Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An…

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…

We propose a multi-sensor fusion method for capturing challenging 3D human motions with accurate consecutive local poses and global trajectories in large-scale scenarios, only using single LiDAR and 4 IMUs, which are set up conveniently and…

Lidar sensors are widely used in various applications, ranging from scientific fields over industrial use to integration in consumer products. With an ever growing number of different driver assistance systems, they have been introduced to…

Non-line-of-sight (NLOS) imaging relies on collecting light that is rendered incoherent from the multiple scattering events and is then post-processed to provide an estimate of the hidden scene. Here we employ coherent phase control of the…

Non-line-of-sight (NLoS) imaging is an important challenge in many fields ranging from autonomous vehicles and smart cities to defense applications. Several recent works in optics and acoustics tackle the challenge of imaging targets hidden…

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…

LiDAR and camera, as two different sensors, supply geometric (point clouds) and semantic (RGB images) information of 3D scenes. However, it is still challenging for existing methods to fuse data from the two cross sensors, making them…

This paper presents a novel optimization-based method for non-line-of-sight (NLOS) imaging that aims to reconstruct hidden scenes under general setups with significantly reduced reconstruction time. In NLOS imaging, the visible surfaces of…

Sensor fusion has become a popular topic in robotics. However, conventional fusion methods encounter many difficulties, such as data representation differences, sensor variations, and extrinsic calibration. For example, the calibration…

This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…

Conventional imaging requires a line of sight to create accurate visual representations of a scene. In certain circumstances, however, obtaining a suitable line of sight may be impractical, dangerous, or even impossible. Non-line-of-sight…

Structure from Motion (SfM) often fails to estimate accurate poses in environments that lack suitable visual features. In such cases, the quality of the final 3D mesh, which is contingent on the accuracy of those estimates, is reduced. One…