相关论文: Object Detection and Ranging for Autonomous Naviga…

The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…

For autonomous driving, an essential task is to detect surrounding objects accurately. To this end, most existing systems use optical devices, including cameras and light detection and ranging (LiDAR) sensors, to collect environment data in…

As the demand for autonomous navigation in off-road environments increases, the need for effective solutions to understand these surroundings becomes essential. In this study, we confront the inherent complexities of semantic segmentation…

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…

Most commercially available Light Detection and Ranging (LiDAR)s measure the distances along a 2D section of the environment by sequentially sampling the free range along directions centered at the sensor's origin. When the sensor moves…

Autonomous driving at level five does not only means self-driving in the sunshine. Adverse weather is especially critical because fog, rain, and snow degrade the perception of the environment. In this work, current state of the art light…

We consider the problem in Synthetic Aperture RADAR (SAR) of identifying and classifying objects located on the ground by means of Convolutional Neural Networks (CNNs). Specifically, we adopt a single scattering approximation to classify…

For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…

Vehicle odometry is an essential component of an automated driving system as it computes the vehicle's position and orientation. The odometry module has a higher demand and impact in urban areas where the global navigation satellite system…

Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…

Fall detection, particularly critical for high-risk demographics like the elderly, is a key public health concern where timely detection can greatly minimize harm. With the advancements in radio frequency technology, radar has emerged as a…

Object detection in sonar images is crucial for underwater robotics applications including autonomous navigation and resource exploration. However, complex noise patterns inherent in sonar imagery, particularly speckle, reverberation, and…

- Both Lidars and Radars are sensors for obstacle detection. While Lidars are very accurate on obstacles positions and less accurate on their velocities, Radars are more precise on obstacles velocities and less precise on their positions.…

Water level monitoring is critical for flood management, water resource allocation, and ecological assessment, yet traditional methods remain costly and limited in coverage. This work explores radar-based sensing as a low-cost alternative…

Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…

Over the course of the last decade, the cost of marine robotic platforms has significantly decreased. In part this has lowered the barriers to entry of exploring and monitoring larger areas of the earth's oceans. However, these advances…

Tiny palm-sized aerial robots possess exceptional agility and cost-effectiveness in navigating confined and cluttered environments. However, their limited payload capacity directly constrains the sensing suite on-board the robot, thereby…

Utilizing the complementary strengths of wavelength-specific range or depth sensors is crucial for robust computer-assisted tasks such as autonomous driving. Despite this, there is still little research done at the intersection of optical…

The advancement of multi-channel synthetic aperture radar (SAR) system is considered as an upgraded technology for surveillance activities. SAR sensors onboard provide data for coastal ocean surveillance and a view of the oceanic surface…

Perception in 3D has become standard practice for a large part of robotics applications. High quality 3D perception is costly. Our previous work on a nodding 2D Lidar provides high quality 3D depth information with low cost, but the sparse…