相关论文: Depth map estimation methodology for detecting fre…

Depth perception is a key component for autonomous systems that interact in the real world, such as delivery robots, warehouse robots, and self-driving cars. Tasks in autonomous robotics such as 3D object recognition, simultaneous…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

This work proposes a novel motion guided method for target-less self-calibration of a LiDAR and camera and use the re-projection of LiDAR points onto the image reference frame for real-time depth upsampling. The calibration parameters are…

Visual-inertial odometry (VIO) systems traditionally rely on filtering or optimization-based techniques for egomotion estimation. While these methods are accurate under nominal conditions, they are prone to failure during severe…

The robustness and accuracy of a vision system for motion estimation of a tumbling target satellite are enhanced by an adaptive Kalman filter. This allows a vision-guided robot to complete the grasping of the target even if occlusion occurs…

Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…

In this paper, we develop a position estimation system for Unmanned Aerial Vehicles formed by hardware and software. It is based on low-cost devices: GPS, commercial autopilot sensors and dense optical flow algorithm implemented in an…

Semantic segmentation of LiDAR data presents considerable challenges, particularly when dealing with diverse sensor types and configurations. However, incorporating semantic information can significantly enhance the accuracy and robustness…

For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…

Stereo vision generally involves the computation of pixel correspondences and estimation of disparities between rectified image pairs. In many applications, including simultaneous localization and mapping (SLAM) and 3D object detection, the…

We investigate the combined use of a Kinect depth sensor and of a stochastic data assimilation method to recover free-surface flows. More specifically, we use a Weighted ensemble Kalman filter method to reconstruct the complete state of…

We present RAPPIDS: a novel collision checking and planning algorithm for multicopters that is capable of quickly finding local collision-free trajectories given a single depth image from an onboard camera. The primary contribution of this…

This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…

LiDAR-Inertial Odometry (LIO) is typically implemented using an optimization-based approach, with the factor graph often being employed due to its capability to seamlessly integrate residuals from both LiDAR and IMU measurements.…

In the paper, region based stereo matching algorithms are developed for extraction depth information from two color stereo image pair. A filter eliminating unreliable disparity estimation was used for increasing reliability of the disparity…

To enhance localization accuracy in urban environments, an innovative LiDAR-Visual-Inertial odometry, named HDA-LVIO, is proposed by employing hybrid data association. The proposed HDA_LVIO system can be divided into two subsystems: the…

We propose a novel three-stage delay-Doppler-angle estimation algorithm for a MIMO-OFDM radar in the presence of inter-carrier interference (ICI). First, leveraging the observation that spatial covariance matrix is independent of target…

Passive depth estimation is among the most long-studied fields in computer vision. The most common methods for passive depth estimation are either a stereo or a monocular system. Using the former requires an accurate calibration process,…

Depth imaging has largely focused on sensor and intrinsics properties. However, the accuracy of acquire pixel is largely dependent on the capture. We propose a new depth estimation and approximation algorithm which takes an arbitrary 3D…

In this paper, we address the problem of road segmentation and free space detection in the context of autonomous driving. Traditional methods either use 3-dimensional (3D) cues such as point clouds obtained from LIDAR, RADAR or stereo…