相关论文: UNIFY: Multi-Belief Bayesian Grid Framework based …

We present a Bayesian Neural Radiance Field (NeRF), which explicitly quantifies uncertainty in the volume density by modeling uncertainty in the occupancy, without the need for additional networks, making it particularly suited for…

Autonomous exploration in structured and complex indoor environments remains a challenging task, as existing methods often struggle to appropriately model unobserved space and plan globally efficient paths. To address these limitations, we…

Grid mapping is a fundamental approach to modeling the environment of intelligent vehicles or robots. Compared with object-based environment modeling, grid maps offer the distinct advantage of representing the environment without requiring…

We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…

Conflicting sensor measurements pose a huge problem for the environment representation of an autonomous robot. Therefore, in this paper, we address the self-assessment of an evidential grid map in which data from conflicting LiDAR sensor…

Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…

Horizontal curves are often associated with roadway crashes due to speed misjudgment and loss of control. With the growing adoption of autonomous and connected vehicles, the accurate estimation of safe speed at curves is becoming…

Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem,…

Large-scale map construction plays a vital role in applications like autonomous driving and navigation systems. Traditional large-scale map construction approaches mainly rely on costly and inefficient special data collection vehicles and…

Localisation with Frequency-Modulated Continuous-Wave (FMCW) radar has gained increasing interest due to its inherent resistance to challenging environments. However, complex artefacts of the radar measurement process require appropriate…

Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…

Road terrains play a crucial role in ensuring the driving safety of autonomous vehicles (AVs). However, existing sensors of AVs, including cameras and Lidars, are susceptible to variations in lighting and weather conditions, making it…

Bayesian optimization is a popular tool for data-efficient optimization of expensive objective functions. In real-life applications like engineering design, the designer often wants to take multiple objectives as well as input uncertainty…

Maps play a key role in rapidly developing area of autonomous driving. We survey the literature for different map representations and find that while the world is three-dimensional, it is common to rely on 2D map representations in order to…

The field of autonomous driving has grown tremendously over the past few years, along with the rapid progress in sensor technology. One of the major purposes of using sensors is to provide environment perception for vehicle understanding,…

Multi-sensor object detection is an active research topic in automated driving, but the robustness of such detection models against missing sensor input (modality missing), e.g., due to a sudden sensor failure, is a critical problem which…

End-to-end autonomous driving aims to produce planning trajectories from raw sensors directly. Currently, most approaches integrate perception, prediction, and planning modules into a fully differentiable network, promising great…

Purpose:This article advocates for the development of a next-generation grid monitoring and control system designed for future grids dominated by inverter-based resources. Leveraging recent progress in generative artificial intelligence…

Driven by deep learning techniques, perception technology in autonomous driving has developed rapidly in recent years, enabling vehicles to accurately detect and interpret surrounding environment for safe and efficient navigation. To…

We introduce WarpRF, a training-free general-purpose framework for quantifying the uncertainty of radiance fields. Built upon the assumption that photometric and geometric consistency should hold among images rendered by an accurate model,…