相关论文: CFEAR Radarodometry -- Conservative Filtering for …

This paper presents a new approach for 6DoF Direct LiDAR-Inertial Odometry (D-LIO) based on the simultaneous mapping of truncated distance fields on CPU. Such continuous representation (in the vicinity of the points) enables working with…

Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…

Simultaneous localization and mapping (SLAM) based on laser sensors has been widely adopted by mobile robots and autonomous vehicles. These SLAM systems are required to support accurate localization with limited computational resources. In…

Recent advances in 4D radar-inertial odometry have demonstrated promising potential for autonomous lo calization in adverse conditions. However, effective handling of sparse and noisy radar measurements remains a critical challenge. In this…

Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…

Autonomous radar has been an integral part of advanced driver assistance systems due to its robustness to adverse weather and various lighting conditions. Conventional automotive radars use digital signal processing (DSP) algorithms to…

The state-of-the-art automotive radars employ multidimensional discrete Fourier transforms (DFT) in order to estimate various target parameters. The DFT is implemented using the fast Fourier transform (FFT), at sample and computational…

Over the past decades, a tremendous amount of work has addressed the topic of ego-motion estimation of moving platforms based on various proprioceptive and exteroceptive sensors. At the cost of ever-increasing computational load and sensor…

This paper presents a new joint radar and communication technique based on the classical stepped frequency radar waveform. The randomization in the waveform, which is achieved by using permutations of the sequence of frequency tones, is…

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…

The paper presents a direct visual-inertial odometry system. In particular, a tightly coupled nonlinear optimization based method is proposed by integrating the recent advances in direct dense tracking and Inertial Measurement Unit (IMU)…

Enabling robot autonomy in complex environments for mission critical application requires robust state estimation. Particularly under conditions where the exteroceptive sensors, which the navigation depends on, can be degraded by…

In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…

This paper proposes a depth estimation method using radar-image fusion by addressing the uncertain vertical directions of sparse radar measurements. In prior radar-image fusion work, image features are merged with the uncertain sparse…

Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…

We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…

The growing urban complexity demands an efficient algorithm to acquire and process various sensor information from autonomous vehicles. In this paper, we introduce an algorithm to utilize object detection results from the image to…

LiDAR odometry is a fundamental task for various areas such as robotics, autonomous driving. This problem is difficult since it requires the systems to be highly robust running in noisy real-world data. Existing methods are mostly local…

By multiplexing information symbols in the delay-Doppler (DD) domain, orthogonal time frequency space (OTFS) is a promising candidate for future wireless communication in high-mobility scenarios. In addition to the superior communication…

This paper addresses a critical preliminary step in radar signal processing: detecting the presence of a radar signal and robustly estimating its bandwidth. Existing methods which are largely statistical feature-based approaches face…