相关论文: Hough2Map -- Iterative Event-based Hough Transform…
High-definition (HD) map transmission is considered as a key technology for automatic driving, which enables vehicles to obtain the precise road and surrounding environment information for further localization and navigation. Guaranteeing…
Autonomous Driving is now the promising future of transportation. As one basis for autonomous driving, High Definition Map (HD map) provides high-precision descriptions of the environment, therefore it enables more accurate perception and…
Autonomous driving needs various line-of-sight sensors to perceive surroundings that could be impaired under diverse environment uncertainties such as visual occlusion and extreme weather. To improve driving safety, we explore to wirelessly…
High-definition (HD) maps are crucial to autonomous driving, providing structured representations of road elements to support navigation and planning. However, existing query-based methods often employ random query initialization and depend…
Event-based visual odometry is a specific branch of visual Simultaneous Localization and Mapping (SLAM) techniques, which aims at solving tracking and mapping subproblems (typically in parallel), by exploiting the special working principles…
This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…
Event-based cameras are bio-inspired vision sensors whose pixels work independently from each other and respond asynchronously to brightness changes, with microsecond resolution. Their advantages make it possible to tackle challenging…
High-speed railway (HSR) communications are pivotal for ensuring rail safety, operations, maintenance, and delivering passenger information services. The high speed of trains creates rapidly time-varying wireless channels, increases the…
Up-to-date High-Definition (HD) maps are essential for self-driving cars. To achieve constantly updated HD maps, we present a deep neural network (DNN), Diff-Net, to detect changes in them. Compared to traditional methods based on object…
Event-based cameras are bio-inspired sensors that capture brightness change of every pixel in an asynchronous manner. Compared with frame-based sensors, event cameras have microsecond-level latency and high dynamic range, hence showing…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Marking-level high-definition maps (HD maps) are of great significance for autonomous vehicles (AVs), especially in large-scale, appearance-changing scenarios where AVs rely on markings for localization and lanes for safe driving. In this…
State-of-the-art techniques for 6D object pose recovery depend on occlusion-free point clouds to accurately register objects in 3D space. To deal with this shortcoming, we introduce a novel architecture called Iterative Hough Forest with…
Indirect structural health monitoring (iSHM) for broken rail detection using onboard sensors presents a cost-effective paradigm for railway track assessment, yet reliably detecting small, transient anomalies (2-10 cm) remains a significant…
We present a complete map management process for a visual localization system designed for multi-vehicle long- term operations in resource constrained outdoor environments. Outdoor visual localization generates large amounts of data that…
The capability to achieve high-precision positioning accuracy has been considered as one of the most critical requirements for vehicle-to-everything (V2X) services in the fifth-generation (5G) cellular networks. The non-line-of-sight (NLOS)…
In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the use of these maps for localization remains largely…
Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. They offer significant advantages over standard cameras, namely a very high dynamic range, no motion blur, and a…
Due to their ubiquity and long-term stability, pole-like objects are well suited to serve as landmarks for vehicle localization in urban environments. In this work, we present a complete mapping and long-term localization system based on…
The quality of recorded videos and images is significantly influenced by the camera's field of view (FOV). In critical applications like surveillance systems and self-driving cars, an inadequate FOV can give rise to severe safety and…