相关论文: A Real-Time Spatial Index for In-Vehicle Units

Recently, the emergence of 3D Gaussian Splatting (3DGS) has drawn significant attention in the area of 3D map reconstruction and visual SLAM. While extensive research has explored 3DGS for indoor trajectory tracking using visual sensor…

Spatial data is ubiquitous. Massive amounts of data are generated every day from a plethora of sources such as billions of GPS-enabled devices (e.g., cell phones, cars, and sensors), consumer-based applications (e.g., Uber and Strava), and…

Although Global Navigation Satellite Systems (GNSS) provide a general solution for bike tracking outdoors, there still exist complex riding environments where only inertial navigation systems work, such as urban canyons. Despite decades of…

For planning rearrangements of objects in a clutter, it is required to know the goal configuration of the objects. However, in real life scenarios, this information is not available most of the time. We introduce a novel method that…

Temporal dependencies between customer visits, such as synchronization constraints, pose a fundamental challenge in vehicle routing. These dependencies, which arise in applications such as home healthcare routing, aircraft scheduling, and…

With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…

High-quality spatiotemporal traffic data is crucial for intelligent transportation systems (ITS) and their data-driven applications. Inevitably, the issue of missing data caused by various disturbances threatens the reliability of data…

We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

The Instance Image Goal Navigation (IIN) problem requires mobile robots deployed in unknown environments to search for specific objects or people of interest using only a single reference goal image of the target. This problem can be…

Filter-based visual inertial navigation system (VINS) has attracted mobile-robot researchers for the good balance between accuracy and efficiency, but its limited mapping quality hampers long-term high-accuracy state estimation. To this…

High-definition map with accurate lane-level information is crucial for autonomous driving, but the creation of these maps is a resource-intensive process. To this end, we present a cost-effective solution to create lane-level roadmaps…

We consider a scenario in which an autonomous vehicle equipped with a downward facing camera operates in a 3D environment and is tasked with searching for an unknown number of stationary targets on the 2D floor of the environment. The key…

Autonomous vehicles (AVs) are evolving into mobile computing platforms, equipped with powerful processors and diverse sensors that generate massive heterogeneous data, for example 14 TB per day. Supporting emerging third-party applications…

Reasoning about large numbers of diverse plans to achieve high speed navigation in cluttered environments remains a challenge for robotic systems even in the case of perfect perceptual information. Often, this is tackled by methods that…

In this letter, we present a robust, real-time, inertial navigation system (INS)-Centric GNSS-Visual-Inertial navigation system (IC-GVINS) for wheeled robot, in which the precise INS is fully utilized in both the state estimation and visual…

Shared situation awareness (SSA) has been garnering explosive interest in various applications for intelligent transportation systems (ITS). In addition, the delay-constrained nature of supporting vehicular networks makes it critical to…

Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…

For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject to long-term changes, which the map needs to account for. We…

Representing the movements of objects (trips) over a network in a compact way while retaining the capability of exploiting such data effectively is an important challenge of real applications. We present a new Compact Trip Representation…