相关论文: Radar-only ego-motion estimation in difficult sett…

Radar-based odometry is a popular solution for ego-motion estimation in conditions where other exteroceptive sensors may degrade, whether due to poor lighting or challenging weather conditions; however, scanning radars have the downside of…

This paper presents an end-to-end radar odometry system which delivers robust, real-time pose estimates based on a learned embedding space free of sensing artefacts and distractor objects. The system deploys a fully differentiable,…

The interest in single-chip mmWave Radar is driven by their compact form factor, cost-effectiveness, and robustness under harsh environmental conditions. Despite its promising attributes, the principal limitation of mmWave radar lies in its…

Off-road robotics have traditionally utilized lidar for local navigation due to its accuracy and high resolution. However, the limitations of lidar, such as reduced performance in harsh environmental conditions and limited range, have…

Autonomous radar has been an integral part of advanced driver assistance systems due to its robustness to adverse weather and various lighting conditions. Conventional automotive radars use digital signal processing (DSP) algorithms to…

Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…

Radar offers the advantage of providing additional physical properties related to observed objects. In this study, we design a physical-enhanced radar-inertial odometry system that capitalizes on the Doppler velocities and radar…

Automotive synthetic aperture radar (SAR) can achieve a significant angular resolution enhancement for detecting static objects, which is essential for automated driving. Obtaining high resolution SAR images requires precise ego vehicle…

This paper presents an accurate, highly efficient, and learning-free method for large-scale odometry estimation using spinning radar, empirically found to generalize well across very diverse environments -- outdoors, from urban to woodland,…

State estimation is a crucial component for the successful implementation of robotic systems, relying on sensors such as cameras, LiDAR, and IMUs. However, in real-world scenarios, the performance of these sensors is degraded by challenging…

Dynamic scenes that contain both object motion and egomotion are a challenge for monocular visual odometry (VO). Another issue with monocular VO is the scale ambiguity, i.e. these methods cannot estimate scene depth and camera motion in…

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…

Accurate 3D object detection is vital for automated driving. While lidar sensors are well suited for this task, they are expensive and have limitations in adverse weather conditions. 3+1D imaging radar sensors offer a cost-effective, robust…

Odometry in adverse weather conditions, such as fog, rain, and snow, presents significant challenges, as traditional vision and LiDAR-based methods often suffer from degraded performance. Radar-Inertial Odometry (RIO) has emerged as a…

This paper presents the accurate, highly efficient, and learning-free method CFEAR Radarodometry for large-scale radar odometry estimation. By using a filtering technique that keeps the k strongest returns per azimuth and by additionally…

Due to the robustness in sensing, radar has been highlighted, overcoming harsh weather conditions such as fog and heavy snow. In this paper, we present a novel radar-only place recognition that measures the similarity score by utilizing…

We tackle the problem of localizing an autonomous sea-surface vehicle in river estuarine areas using monocular camera and angular velocity input from an inertial sensor. Our method is challenged by two prominent drawbacks associated with…

Optical Flow (OF) and depth are commonly used for visual odometry since they provide sufficient information about camera ego-motion in a rigid scene. We reformulate the problem of ego-motion estimation as a problem of motion estimation of a…

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…

We consider the object recognition problem in autonomous driving using automotive radar sensors. Comparing to Lidar sensors, radar is cost-effective and robust in all-weather conditions for perception in autonomous driving. However, radar…