相关论文: Complex Urban LiDAR Data Set

The worldwide commercialization of fifth generation (5G) wireless networks and the exciting possibilities offered by connected and autonomous vehicles (CAVs) are pushing toward the deployment of heterogeneous sensors for tracking dynamic…

This paper introduces a large-scale, high-precision LiDAR-Inertial Odometry (LIO) dataset, aiming to address the insufficient validation of LIO systems in complex real-world scenarios in existing research. The dataset covers four diverse…

The growing demand for intelligent environments unleashes an extraordinary cycle of privacy-aware applications that makes individuals' life more comfortable and safe. Examples of these applications include pedestrian tracking systems in…

LiDAR point cloud maps are extensively utilized on roads for robot navigation due to their high consistency. However, dense point clouds face challenges of high memory consumption and reduced maintainability for long-term operations. In…

LiDAR is an essential sensor for autonomous driving by collecting precise geometric information regarding a scene. %Exploiting this information for perception is interesting as the amount of available data increases. As the performance of…

Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…

Light Detection And Ranging (LiDAR) has been widely used in autonomous vehicles for perception and localization. However, the cost of a high-resolution LiDAR is still prohibitively expensive, while its low-resolution counterpart is much…

Mapping and localization is a critical module of autonomous driving, and significant achievements have been reached in this field. Beyond Global Navigation Satellite System (GNSS), research in point cloud registration, visual feature…

Detecting moving vehicles and people is crucial for safe operation of UGVs but is challenging in cluttered, real world environments. We propose a registration technique that enables objects to be robustly matched and tracked, and hence…

In the last decades, Light Detection And Ranging (LiDAR) technology has been extensively explored as a robust alternative for self-localization and mapping. These approaches typically state ego-motion estimation as a non-linear optimization…

Most commercially available Light Detection and Ranging (LiDAR)s measure the distances along a 2D section of the environment by sequentially sampling the free range along directions centered at the sensor's origin. When the sensor moves…

Monitoring urban tree dynamics is vital for supporting greening policies and reducing risks to electrical infrastructure. Airborne laser scanning has advanced large-scale tree management, but challenges remain due to complex urban…

This paper presents a lidar-only state estimation and tracking framework, along with a roadside sensing unit for integration with existing urban infrastructure. Urban deployments demand scalable, real-time tracking solutions, yet…

Accurate LiDAR simulation is crucial for autonomous driving, especially under adverse weather conditions. Existing methods struggle to capture the complex interactions between LiDAR signals and atmospheric phenomena, leading to unrealistic…

Light Detection and Ranging (LiDAR) are fast emerging sensors in the field of Earth Observation. It is a remote sensing technology that utilizes laser beams to measure distances and create detailed three-dimensional representations of…

Perception in 3D has become standard practice for a large part of robotics applications. High quality 3D perception is costly. Our previous work on a nodding 2D Lidar provides high quality 3D depth information with low cost, but the sparse…

Estimating accurate lane lines in 3D space remains challenging due to their sparse and slim nature. Previous works mainly focused on using images for 3D lane detection, leading to inherent projection error and loss of geometry information.…

Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR scanners have become the standard sensor for robot…

In this paper, we present a parallel architecture for a sensor fusion detection system that combines a camera and 1D light detection and ranging (lidar) sensor for object detection. The system contains two object detection methods, one…

We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…