相关论文: Automotive-Radar-Based 50-cm Urban Positioning
In this work we propose an alternative formulation to the problem of ground reflectivity grid based localization involving laser scanned data from multiple LIDARs mounted on autonomous vehicles. The driving idea of our localization…
Localization can be achieved by different sensors and techniques such as a global positioning system (GPS), wifi, ultrasonic sensors, and cameras. In this paper, we focus on the laser-based localization method for unmanned aerial vehicle…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
This work addresses visual cross-view metric localization for outdoor robotics. Given a ground-level color image and a satellite patch that contains the local surroundings, the task is to identify the location of the ground camera within…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
Safe mobility for unmanned ground vehicles requires reliable detection of other vehicles, along with precise estimates of their locations and trajectories. Here we describe the algorithms and system we have developed for accurate trajectory…
Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through…
Autonomous driving is an important trend of the automotive industry. The continuous research towards this goal requires a precise reference vehicle state estimation under all circumstances in order to develop and test autonomous vehicle…
Accurate vehicle localization is a crucial step towards building effective Vehicle-to-Vehicle networks and automotive applications. Yet standard grade GPS data, such as that provided by mobile phones, is often noisy and exhibits significant…
Accurate lane localization and lane change detection are crucial in advanced driver assistance systems and autonomous driving systems for safer and more efficient trajectory planning. Conventional localization devices such as Global…
Collision avoidance and platooning applications require vehicle localization at cm-level accuracy and at least 50 Hz rate for full autonomy. The RADAR/LIDAR and camera based methods currently used for vehicle localization do not satisfy…
Efficient localization plays a vital role in many modern applications of Unmanned Ground Vehicles (UGV) and Unmanned aerial vehicles (UAVs), which would contribute to improved control, safety, power economy, etc. The ubiquitous 5G NR (New…
We propose a method for accurately localizing ground vehicles with the aid of satellite imagery. Our approach takes a ground image as input, and outputs the location from which it was taken on a georeferenced satellite image. We perform…
While automotive radar sensors are widely adopted and have been used for automatic cruise control and collision avoidance tasks, their application outside of vehicles is still limited. As they have the ability to resolve multiple targets in…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…
Publicly available satellite imagery can be an ubiquitous, cheap, and powerful tool for vehicle localisation when a prior sensor map is unavailable. However, satellite images are not directly comparable to data from ground range sensors…
A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…
Estimating the pose of an unmanned aerial vehicle (UAV) or drone is a challenging task. It is useful for many applications such as navigation, surveillance, tracking objects on the ground, and 3D reconstruction. In this work, we present a…
This paper presents the design and development of an intelligent subsystem that includes a novel low-power radar sensor integrated into an autonomous racing perception pipeline to robustly estimate the position and velocity of dynamic…