相关论文: Ground Edge based LIDAR Localization without a Ref…

Radar place recognition often involves encoding a live scan as a vector and matching this vector to a database in order to recognise that the vehicle is in a location that it has visited before. Radar is inherently robust to lighting or…

We present a heterogeneous localization framework for solving radar global localization and pose tracking on pre-built lidar maps. To bridge the gap of sensing modalities, deep neural networks are constructed to create shared embedding…

The trend towards autonomous driving and the continuous research in the automotive area, like Advanced Driver Assistance Systems (ADAS), requires an accurate localization under all circumstances. An accurate estimation of the vehicle state…

Autonomous driving and intelligent transportation applications have dramatically increased the demand for high-accuracy and low-latency localization services. While cellular networks are potentially capable of target detection and…

In the presented scenario, an autonomous surface vehicle (ASV) equipped with a laser scanner navigates on a inland pathway surrounded and crossed by man-made structures such as bridges and locks. {GPS} receiver present on board experiences…

In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization…

LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…

GNSS is unreliable, inaccurate, and insufficient in many real-time autonomous field applications. In this work, we present a GNSS-free global localization solution that contains a method of registering imaging radar on the ground with…

High performance lidars are essential in autonomous robots such as self-driving cars, automated ground vehicles and intelligent machines. Traditional mechanical scanning lidars offer superior performance in autonomous vehicles, but the…

Drivable free space information is vital for autonomous vehicles that have to plan evasive maneuvers in real-time. In this paper, we present a new efficient method for environmental free space detection with laser scanner based on 2D…

The past few years have witnessed an increasing interest in improving the perception performance of LiDARs on autonomous vehicles. While most of the existing works focus on developing new deep learning algorithms or model architectures, we…

In this letter, we present a novel method for automatic extrinsic calibration of high-resolution LiDARs and RGB cameras in targetless environments. Our approach does not require checkerboards but can achieve pixel-level accuracy by aligning…

LIDAR and RADAR are two commonly used sensors in autonomous driving systems. The extrinsic calibration between the two is crucial for effective sensor fusion. The challenge arises due to the low accuracy and sparse information in RADAR…

Mobile robots equipped with multiple light detection and ranging (LiDARs) and capable of recognizing their surroundings are increasing due to the minitualization and cost reduction of LiDAR. This paper proposes a target-less extrinsic…

Range-measuring sensors play a critical role in autonomous driving systems. While LiDAR technology has been dominant, its vulnerability to adverse weather conditions is well-documented. This paper focuses on secondary adverse conditions and…

Autonomous systems often employ multiple LiDARs to leverage the integrated advantages, enhancing perception and robustness. The most critical prerequisite under this setting is the estimating the extrinsic between each LiDAR, i.e.,…

We present a fully interpretable and flexible statistical method for background subtraction in roadside LiDAR data, aimed at enhancing infrastructure-based perception in automated driving. Our approach introduces both a Gaussian…

Induced magnetic field (IMF)-based localization offers a robust alternative to wave-based positioning technologies due to its resilience to non-line-of-sight conditions, environmental dynamics, and wireless interference. However, existing…

Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…

We propose a method for off-road drivable area extraction using 3D LiDAR data with the goal of autonomous driving application. A specific deep learning framework is designed to deal with the ambiguous area, which is one of the main…