相关论文: Complex Urban LiDAR Data Set

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…

A complete overview of the surrounding vehicle environment is important for driver assistance systems and highly autonomous driving. Fusing results of multiple sensor types like camera, radar and lidar is crucial for increasing the…

Simultaneous Localization and Mapping (SLAM) is a key component of autonomous systems operating in environments that require a consistent map for reliable localization. SLAM has been a widely studied topic for decades with most of the…

Semantic scene understanding is important for various applications. In particular, self-driving cars need a fine-grained understanding of the surfaces and objects in their vicinity. Light detection and ranging (LiDAR) provides precise…

Map-based LiDAR localization, while widely used in autonomous systems, faces significant challenges in degraded environments due to lacking distinct geometric features. This paper introduces SuperLoc, a robust LiDAR localization package…

An optimal solution to the localization problem is essential for developing autonomous robotic systems. Apart from autonomous vehicles, precision agriculture is one of the elds that can bene t most from these systems. Although LiDAR place…

We propose a technique to develop (and localize in) topological maps from light detection and ranging (Lidar) data. Localizing an autonomous vehicle with respect to a reference map in real-time is crucial for its safe operation. Owing to…

Pervasive sensing in industrial and underground environments is severely constrained by airborne dust, smoke, confined geometry, and metallic structures, which rapidly degrade optical and LiDAR based perception. Elevation resolved 4D mmWave…

The current autonomous driving architecture places a heavy burden in signal processing for the graphics processing units (GPUs) in the car. This directly translates into battery drain and lower energy efficiency, crucial factors in electric…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

Compared to abstract features, significant objects, so-called landmarks, are a more natural means for vehicle localization and navigation, especially in challenging unstructured environments. The major challenge is to recognize landmarks in…

We tackle the challenge of LiDAR-based place recognition, which traditionally depends on costly and time-consuming prior 3D maps. To overcome this, we first construct LiRSI-XA dataset, which encompasses approximately $110,000$ remote…

The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…

LiDAR and 4D radar are widely used in autonomous driving and robotics. While LiDAR provides rich spatial information, 4D radar offers velocity measurement and remains robust under adverse conditions. As a result, increasing studies have…

For autonomous ground vehicles (AGVs) deployed in suburban neighborhoods and other human-centric environments the problem of localization remains a fundamental challenge. There are well established methods for localization with GPS, lidar,…

3D object detection is a central task for applications such as autonomous driving, in which the system needs to localize and classify surrounding traffic agents, even in the presence of adverse weather. In this paper, we address the problem…

Creating large LiDAR datasets with pixel-level labeling poses significant challenges. While numerous data augmentation methods have been developed to reduce the reliance on manual labeling, these methods predominantly focus on static scenes…

This article presents UrbanTwin datasets, high-fidelity, realistic replicas of three public roadside lidar datasets: LUMPI, V2X-Real-IC, and TUMTraf-I. Each UrbanTwin dataset contains 10K annotated frames corresponding to one of the public…

This paper presents a unique outdoor aerial visual-inertial-LiDAR dataset captured using a multi-sensor payload to promote the global navigation satellite system (GNSS)-denied navigation research. The dataset features flight distances…

Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in…