相关论文: Lvio-Fusion: A Self-adaptive Multi-sensor Fusion S…

With robots being deployed in increasingly complex environments like underground mines and planetary surfaces, the multi-sensor fusion method has gained more and more attention which is a promising solution to state estimation in the such…

Fusing different sensor modalities can be a difficult task, particularly if they are asynchronous. Asynchronisation may arise due to long processing times or improper synchronisation during calibration, and there must exist a way to still…

In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…

Recent years have witnessed the increasing application of place recognition in various environments, such as city roads, large buildings, and a mix of indoor and outdoor places. This task, however, still remains challenging due to the…

Motion estimation approaches typically employ sensor fusion techniques, such as the Kalman Filter, to handle individual sensor failures. More recently, deep learning-based fusion approaches have been proposed, increasing the performance and…

We propose a framework for tightly-coupled lidar inertial odometry via smoothing and mapping, LIO-SAM, that achieves highly accurate, real-time mobile robot trajectory estimation and map-building. LIO-SAM formulates lidar-inertial odometry…

Multi-sensor fusion is essential for accurate 3D object detection in self-driving systems. Camera and LiDAR are the most commonly used sensors, and usually, their fusion happens at the early or late stages of 3D detectors with the help of…

Fusing the camera and LiDAR information has become a de-facto standard for 3D object detection tasks. Current methods rely on point clouds from the LiDAR sensor as queries to leverage the feature from the image space. However, people…

Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…

Most classical SLAM systems rely on the static scene assumption, which limits their applicability in real world scenarios. Recent SLAM frameworks have been proposed to simultaneously track the camera and moving objects. However they are…

The emerging Internet of Things (IoT) applications, such as driverless cars, have a growing demand for high-precision positioning and navigation. Nowadays, LiDAR inertial odometry becomes increasingly prevalent in robotics and autonomous…

Accurate long-term localization using onboard sensors is crucial for robots operating in Global Navigation Satellite System (GNSS)-denied environments. While complementary sensors mitigate individual degradations, carrying all the available…

Multimodal camera-LiDAR fusion technology has found extensive application in 3D object detection, demonstrating encouraging performance. However, existing methods exhibit significant performance degradation in challenging scenarios…

To accurately estimate locations and velocities of surrounding targets (cars) is crucial for advanced driver assistance systems based on radar sensors. In this paper we derive methods for fusing data from multiple radar sensors in order to…

This paper addresses the problem of accurate localization for quadrupedal robots operating in narrow tunnel-like environments. Due to the long and homogeneous characteristics of such scenarios, LiDAR measurements often provide weak…

Nowadays, more and more sensors are equipped on robots to increase robustness and autonomous ability. We have seen various sensor suites equipped on different platforms, such as stereo cameras on ground vehicles, a monocular camera with an…

With information from multiple input modalities, sensor fusion-based algorithms usually out-perform their single-modality counterparts in robotics. Camera and LIDAR, with complementary semantic and depth information, are the typical choices…

Multi-view depth estimation has achieved impressive performance over various benchmarks. However, almost all current multi-view systems rely on given ideal camera poses, which are unavailable in many real-world scenarios, such as autonomous…

This paper presents an adaptive learning method for data fusion in autonomous driving vehicles. The localization is based on the integration of Inertial Measurement Unit (IMU) with two Real-Time Kinematic (RTK) Global Positioning System…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…