相关论文: TensorMap: Lidar-Based Topological Mapping and Loc…

LiDAR (Light Detection and Ranging) is an advanced active remote sensing technique working on the principle of time of travel (ToT) for capturing highly accurate 3D information of the surroundings. LiDAR has gained wide attention in…

This paper proposes an efficient hybrid localization framework for the autonomous navigation of an unmanned ground vehicle in uneven or rough terrain, as well as techniques for detailed processing of 3D point cloud data. The framework is an…

LiDAR sensors are essential for autonomous systems, yet LiDAR fiducial markers (LFMs) lag behind visual fiducial markers (VFMs) in adoption and utility. Bridging this gap is vital for robotics and computer vision but challenging due to the…

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…

Lidar-only odometry aims to estimate the trajectory of a mobile platform from a stream of lidar scans. Traditional scan-to map approaches register each scan against a single, evolving map, which propagates registration errors over time. To…

Randomized numerical linear algebra is proved to bridge theoretical advancements to offer scalable solutions for approximating tensor decomposition. This paper introduces fast randomized algorithms for solving the fixed Tucker-rank problem…

The Tucker tensor decomposition is a natural extension of the singular value decomposition (SVD) to multiway data. We propose to accelerate Tucker tensor decomposition algorithms by using randomization and parallelization. We present two…

Real-time light detection and ranging (LiDAR) perceptions, e.g., 3D object detection and simultaneous localization and mapping are computationally intensive to mobile devices of limited resources and often offloaded on the edge. Offloading…

Nearest-neighbor search in large vector databases is crucial for various machine learning applications. This paper introduces a novel method using tensor-train (TT) low-rank tensor decomposition to efficiently represent point clouds and…

Autonomous vehicles have gained significant attention due to technological advancements and their potential to transform transportation. A critical challenge in this domain is precise localization, particularly in LiDAR-based map matching,…

Place recognition is essential for achieving closed-loop or global positioning in autonomous vehicles and mobile robots. Despite recent advancements in place recognition using 2D cameras or 3D LiDAR, it remains to be seen how to use 4D…

This article describes a multi-modal method using simulated Lidar data via ray tracing and image pixel loss with differentiable rendering to optimize an object's position with respect to an observer or some referential objects in a computer…

Robust localization in dense urban scenarios using a low-cost sensor setup and sparse HD maps is highly relevant for the current advances in autonomous driving, but remains a challenging topic in research. We present a novel monocular…

Traffic Movement Count (TMC) at intersections is crucial for optimizing signal timings, assessing the performance of existing traffic control measures, and proposing efficient lane configurations to minimize delays, reduce congestion, and…

Online localization of road intersections is beneficial for autonomous vehicle localization, mapping and motion planning. Intersections offer strong landmarks for correcting vehicle pose estimation, anchoring new sensor data in up-to-date…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

Inspired by recent advances in vision transformers for object detection, we propose Li3DeTr, an end-to-end LiDAR based 3D Detection Transformer for autonomous driving, that inputs LiDAR point clouds and regresses 3D bounding boxes. The…

Vehicle odometry is an essential component of an automated driving system as it computes the vehicle's position and orientation. The odometry module has a higher demand and impact in urban areas where the global navigation satellite system…

This paper presents a large-scale strip adjustment method for LiDAR mobile mapping data, yielding highly precise maps. It uses several concepts to achieve scalability. First, an efficient graph-based pre-segmentation is used, which directly…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…