相关论文: A LiDAR-based real-time capable 3D Perception Syst…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

Road boundaries, or curbs, provide autonomous vehicles with essential information when interpreting road scenes and generating behaviour plans. Although curbs convey important information, they are difficult to detect in complex urban…

LiDAR sensors play a crucial role in various applications, especially in autonomous driving. Current research primarily focuses on optimizing perceptual models with point cloud data as input, while the exploration of deeper cognitive…

Autonomous vehicles require accurate and robust localization and mapping algorithms to navigate safely and reliably in urban environments. We present a novel sensor fusion-based pipeline for offline mapping and online localization based on…

In this work, we propose the LiDAR Road-Atlas, a compactable and efficient 3D map representation, for autonomous robot or vehicle navigation in general urban environment. The LiDAR Road-Atlas can be generated by an online mapping framework…

The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object…

Understanding driving situations regardless the conditions of the traffic scene is a cornerstone on the path towards autonomous vehicles; however, despite common sensor setups already include complementary devices such as LiDAR or radar,…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

Perceiving pedestrians in highly crowded urban environments is a difficult long-tail problem for learning-based autonomous perception. Speeding up 3D ground truth generation for such challenging scenes is performance-critical yet very…

For autonomous driving, traversability analysis is one of the most basic and essential tasks. In this paper, we propose a novel LiDAR-based terrain modeling approach, which could output stable, complete and accurate terrain models and…

Autonomous vehicles rely on a variety of sensors to gather information about their surrounding. The vehicle's behavior is planned based on the environment perception, making its reliability crucial for safety reasons. The active LiDAR…

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…

Autonomous driving perceives surroundings with line-of-sight sensors that are compromised under environmental uncertainties. To achieve real time global information in high definition map, we investigate to share perception information…

Most real-world 3D sensors such as LiDARs perform fixed scans of the entire environment, while being decoupled from the recognition system that processes the sensor data. In this work, we propose a method for 3D object recognition using…

This paper explores the use of 3D lidar in a physical Human-Robot Interaction (pHRI) scenario. To achieve the aforementioned, experiments were conducted to mimic a modern shop-floor environment. Data was collected from a pool of seventeen…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

Autonomous vehicles rely on their perception systems to acquire information about their immediate surroundings. It is necessary to detect the presence of other vehicles, pedestrians and other relevant entities. Safety concerns and the need…

Autonomous driving has achieved rapid development over the last few decades, including the machine perception as an important issue of it. Although object detection based on conventional cameras has achieved remarkable results in 2D/3D,…

Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…

Autonomous driving, in recent years, has been receiving increasing attention for its potential to relieve drivers' burdens and improve the safety of driving. In modern autonomous driving pipelines, the perception system is an indispensable…